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-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs1438
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs4082
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs384
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs48
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs3887
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs353
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs122
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs98
9 files changed, 10470 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d65929a
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..2945199
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1438 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using OpenMetaverse;
32using Ode.NET;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using log4net;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
41 /// </summary>
42
43 public enum dParam : int
44 {
45 LowStop = 0,
46 HiStop = 1,
47 Vel = 2,
48 FMax = 3,
49 FudgeFactor = 4,
50 Bounce = 5,
51 CFM = 6,
52 StopERP = 7,
53 StopCFM = 8,
54 LoStop2 = 256,
55 HiStop2 = 257,
56 Vel2 = 258,
57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
60 LoStop3 = 512,
61 HiStop3 = 513,
62 Vel3 = 514,
63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
66 }
67 public class OdeCharacter : PhysicsActor
68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70
71 private Vector3 _position;
72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false;
76 private Vector3 _velocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 public float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 public float PID_D = 800.0f;
84 public float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 public float CAPSULE_RADIUS = 0.37f;
87 public float CAPSULE_LENGTH = 2.140599f;
88 public float m_tensor = 3800000f;
89 public float heightFudgeFactor = 0.52f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool jumping = false; // add for jumping
94 private bool m_iscolliding = false;
95 private bool m_iscollidingGround = false;
96 private bool m_wascolliding = false;
97 private bool m_wascollidingGround = false;
98 private bool m_iscollidingObj = false;
99 private bool m_alwaysRun = false;
100 private bool m_hackSentFall = false;
101 private bool m_hackSentFly = false;
102 private int m_requestedUpdateFrequency = 0;
103 private Vector3 m_taintPosition = Vector3.Zero;
104 public uint m_localID = 0;
105 public bool m_returnCollisions = false;
106 // taints and their non-tainted counterparts
107 public bool m_isPhysical = false; // the current physical status
108 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
109 public float MinimumGroundFlightOffset = 3f;
110
111 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
112 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
113
114
115 private float m_buoyancy = 0f;
116
117 // private CollisionLocker ode;
118
119 private string m_name = String.Empty;
120
121 private bool[] m_colliderarr = new bool[11];
122 private bool[] m_colliderGroundarr = new bool[11];
123
124 // Default we're a Character
125 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
126
127 // Default, Collide with Other Geometries, spaces, bodies and characters.
128 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
129 | CollisionCategories.Space
130 | CollisionCategories.Body
131 | CollisionCategories.Character
132 | CollisionCategories.Land);
133 public IntPtr Body = IntPtr.Zero;
134 private OdeScene _parent_scene;
135 public IntPtr Shell = IntPtr.Zero;
136 public IntPtr Amotor = IntPtr.Zero;
137 public d.Mass ShellMass;
138 public bool collidelock = false;
139
140 public int m_eventsubscription = 0;
141 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
142
143 // unique UUID of this character object
144 public UUID m_uuid;
145 public bool bad = false;
146 private Object m_syncRoot = new Object();
147
148 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
149 {
150 m_uuid = UUID.Random();
151
152 if (pos.IsFinite())
153 {
154 if (pos.Z > 9999999f)
155 {
156 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
157 }
158 if (pos.Z < -90000f)
159 {
160 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
161 }
162 _position = pos;
163 m_taintPosition.X = pos.X;
164 m_taintPosition.Y = pos.Y;
165 m_taintPosition.Z = pos.Z;
166 }
167 else
168 {
169 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
170 m_taintPosition.X = _position.X;
171 m_taintPosition.Y = _position.Y;
172 m_taintPosition.Z = _position.Z;
173 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
174 }
175
176 _parent_scene = parent_scene;
177
178 PID_D = pid_d;
179 PID_P = pid_p;
180 CAPSULE_RADIUS = capsule_radius;
181 m_tensor = tensor;
182 m_density = density;
183 heightFudgeFactor = height_fudge_factor;
184 walkDivisor = walk_divisor;
185 runDivisor = rundivisor;
186
187 // m_StandUpRotation =
188 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
189 // 0.5f);
190
191 for (int i = 0; i < 11; i++)
192 {
193 m_colliderarr[i] = false;
194 }
195 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
196 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
197 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
198
199 m_isPhysical = false; // current status: no ODE information exists
200 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
201
202 _parent_scene.AddPhysicsActorTaint(this);
203
204 m_name = avName;
205 }
206
207 public override int PhysicsActorType
208 {
209 get { return (int) ActorTypes.Agent; }
210 set { return; }
211 }
212
213 /// <summary>
214 /// If this is set, the avatar will move faster
215 /// </summary>
216 public override bool SetAlwaysRun
217 {
218 get { return m_alwaysRun; }
219 set { m_alwaysRun = value; }
220 }
221
222 public override uint LocalID
223 {
224 set { m_localID = value; }
225 }
226
227 public override bool Grabbed
228 {
229 set { return; }
230 }
231
232 public override bool Selected
233 {
234// set { return; }
235 set { jumping = value; } // add for jumping flag
236 }
237
238 public override float Buoyancy
239 {
240 get { return m_buoyancy; }
241 set { m_buoyancy = value; }
242 }
243
244 public override bool FloatOnWater
245 {
246 set { return; }
247 }
248
249 public override bool IsPhysical
250 {
251 get { return false; }
252 set { return; }
253 }
254
255 public override bool ThrottleUpdates
256 {
257 get { return false; }
258 set { return; }
259 }
260
261 public override bool Flying
262 {
263 get { return flying; }
264 set { flying = value; }
265 }
266
267 /// <summary>
268 /// Returns if the avatar is colliding in general.
269 /// This includes the ground and objects and avatar.
270 /// </summary>
271 public override bool IsColliding
272 {
273//#@ get { return m_iscolliding; }
274 get { //##
275//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
276 return m_iscolliding; } //##
277 set
278 {
279 int i;
280 int truecount = 0;
281 int falsecount = 0;
282
283 if (m_colliderarr.Length >= 10)
284 {
285 for (i = 0; i < 10; i++)
286 {
287 m_colliderarr[i] = m_colliderarr[i + 1];
288 }
289 }
290 m_colliderarr[10] = value;
291
292 for (i = 0; i < 11; i++)
293 {
294 if (m_colliderarr[i])
295 {
296 truecount++;
297 }
298 else
299 {
300 falsecount++;
301 }
302 }
303
304 // Equal truecounts and false counts means we're colliding with something.
305
306 if (falsecount > 1.2*truecount)
307 {
308 m_iscolliding = false;
309 }
310 else
311 {
312 m_iscolliding = true;
313 }
314// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
315 if (m_wascolliding != m_iscolliding)
316 {
317 //base.SendCollisionUpdate(new CollisionEventUpdate());
318 }
319 m_wascolliding = m_iscolliding;
320 }
321 }
322
323 /// <summary>
324 /// Returns if an avatar is colliding with the ground
325 /// </summary>
326 public override bool CollidingGround
327 {
328 get { return m_iscollidingGround; }
329 set
330 {
331 // Collisions against the ground are not really reliable
332 // So, to get a consistant value we have to average the current result over time
333 // Currently we use 1 second = 10 calls to this.
334 int i;
335 int truecount = 0;
336 int falsecount = 0;
337
338 if (m_colliderGroundarr.Length >= 10)
339 {
340 for (i = 0; i < 10; i++)
341 {
342 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
343 }
344 }
345 m_colliderGroundarr[10] = value;
346
347 for (i = 0; i < 11; i++)
348 {
349 if (m_colliderGroundarr[i])
350 {
351 truecount++;
352 }
353 else
354 {
355 falsecount++;
356 }
357 }
358
359 // Equal truecounts and false counts means we're colliding with something.
360
361 if (falsecount > 1.2*truecount)
362 {
363 m_iscollidingGround = false;
364 }
365 else
366 {
367 m_iscollidingGround = true;
368 }
369 if (m_wascollidingGround != m_iscollidingGround)
370 {
371 //base.SendCollisionUpdate(new CollisionEventUpdate());
372 }
373 m_wascollidingGround = m_iscollidingGround;
374 }
375 }
376
377 /// <summary>
378 /// Returns if the avatar is colliding with an object
379 /// </summary>
380 public override bool CollidingObj
381 {
382 get { return m_iscollidingObj; }
383 set
384 {
385 m_iscollidingObj = value;
386 if (value)
387 m_pidControllerActive = false;
388 else
389 m_pidControllerActive = true;
390 }
391 }
392
393 /// <summary>
394 /// turn the PID controller on or off.
395 /// The PID Controller will turn on all by itself in many situations
396 /// </summary>
397 /// <param name="status"></param>
398 public void SetPidStatus(bool status)
399 {
400 m_pidControllerActive = status;
401 }
402
403 public override bool Stopped
404 {
405 get { return _zeroFlag; }
406 }
407
408 /// <summary>
409 /// This 'puts' an avatar somewhere in the physics space.
410 /// Not really a good choice unless you 'know' it's a good
411 /// spot otherwise you're likely to orbit the avatar.
412 /// </summary>
413 public override Vector3 Position
414 {
415 get { return _position; }
416 set
417 {
418 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
419 {
420 if (value.IsFinite())
421 {
422 if (value.Z > 9999999f)
423 {
424 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
425 }
426 if (value.Z < -90000f)
427 {
428 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
429 }
430
431 _position.X = value.X;
432 _position.Y = value.Y;
433 _position.Z = value.Z;
434
435 m_taintPosition.X = value.X;
436 m_taintPosition.Y = value.Y;
437 m_taintPosition.Z = value.Z;
438 _parent_scene.AddPhysicsActorTaint(this);
439 }
440 else
441 {
442 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
443 }
444 }
445 }
446 }
447
448 public override Vector3 RotationalVelocity
449 {
450 get { return m_rotationalVelocity; }
451 set { m_rotationalVelocity = value; }
452 }
453
454 /// <summary>
455 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
456 /// and use it to offset landings properly
457 /// </summary>
458 public override Vector3 Size
459 {
460 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
461 set
462 {
463 if (value.IsFinite())
464 {
465 m_pidControllerActive = true;
466
467 Vector3 SetSize = value;
468 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
469 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
470
471 Velocity = Vector3.Zero;
472 m_taintPosition = _position; // update the stale taint position
473 _parent_scene.AddPhysicsActorTaint(this);
474 }
475 else
476 {
477 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
478 }
479 }
480 }
481
482 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
483 {
484 movementVector.Z = 0f;
485 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
486 if (magnitude < 0.1f) return;
487
488 // normalize the velocity vector
489 float invMagnitude = 1.0f / magnitude;
490 movementVector.X *= invMagnitude;
491 movementVector.Y *= invMagnitude;
492
493 // if we change the capsule heading too often, the capsule can fall down
494 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
495 // meaning only 4 possible capsule tilt orientations
496 if (movementVector.X > 0)
497 {
498 // east
499 if (movementVector.Y > 0)
500 {
501 // northeast
502 movementVector.X = (float)Math.Sqrt(2.0);
503 movementVector.Y = (float)Math.Sqrt(2.0);
504 }
505 else
506 {
507 // southeast
508 movementVector.X = (float)Math.Sqrt(2.0);
509 movementVector.Y = -(float)Math.Sqrt(2.0);
510 }
511 }
512 else
513 {
514 // west
515 if (movementVector.Y > 0)
516 {
517 // northwest
518 movementVector.X = -(float)Math.Sqrt(2.0);
519 movementVector.Y = (float)Math.Sqrt(2.0);
520 }
521 else
522 {
523 // southwest
524 movementVector.X = -(float)Math.Sqrt(2.0);
525 movementVector.Y = -(float)Math.Sqrt(2.0);
526 }
527 }
528
529
530 // movementVector.Z is zero
531
532 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
533 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
534 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
535 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
536
537 //m_log.Debug("[PHYSICS] changing avatar tilt");
538 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
539 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
541 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
542 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
544 }
545
546 /// <summary>
547 /// This creates the Avatar's physical Surrogate at the position supplied
548 /// </summary>
549 /// <param name="npositionX"></param>
550 /// <param name="npositionY"></param>
551 /// <param name="npositionZ"></param>
552
553 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
554 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
555 // place that is safe to call this routine AvatarGeomAndBodyCreation.
556 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
557 {
558 //CAPSULE_LENGTH = -5;
559 //CAPSULE_RADIUS = -5;
560 int dAMotorEuler = 1;
561 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
562 if (CAPSULE_LENGTH <= 0)
563 {
564 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
565 CAPSULE_LENGTH = 0.01f;
566
567 }
568
569 if (CAPSULE_RADIUS <= 0)
570 {
571 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
572 CAPSULE_RADIUS = 0.01f;
573
574 }
575
576 if(Shell != IntPtr.Zero)
577 {
578 try
579 {
580 d.GeomDestroy(Shell);
581 }
582 catch (System.AccessViolationException)
583 {
584 m_log.Error("[PHYSICS]: PrimGeom dead");
585 }
586 // Remove any old entries
587//string tShell;
588//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
589//Console.WriteLine("**** Remove {0}", tShell);
590 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
591 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
592 }
593
594 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
595 _parent_scene.geom_name_map[Shell] = m_name;
596 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
597//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1} height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
598
599 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
600 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
601
602 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
603 Body = d.BodyCreate(_parent_scene.world);
604 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
605
606 _position.X = npositionX;
607 _position.Y = npositionY;
608 _position.Z = npositionZ;
609
610
611 m_taintPosition.X = npositionX;
612 m_taintPosition.Y = npositionY;
613 m_taintPosition.Z = npositionZ;
614
615 d.BodySetMass(Body, ref ShellMass);
616 d.Matrix3 m_caprot;
617 // 90 Stand up on the cap of the capped cyllinder
618 if (_parent_scene.IsAvCapsuleTilted)
619 {
620 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
621 }
622 else
623 {
624 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
625 }
626
627
628 d.GeomSetRotation(Shell, ref m_caprot);
629 d.BodySetRotation(Body, ref m_caprot);
630
631 d.GeomSetBody(Shell, Body);
632
633
634 // The purpose of the AMotor here is to keep the avatar's physical
635 // surrogate from rotating while moving
636 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
637 d.JointAttach(Amotor, Body, IntPtr.Zero);
638 d.JointSetAMotorMode(Amotor, dAMotorEuler);
639 d.JointSetAMotorNumAxes(Amotor, 3);
640 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
641 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
642 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
643 d.JointSetAMotorAngle(Amotor, 0, 0);
644 d.JointSetAMotorAngle(Amotor, 1, 0);
645 d.JointSetAMotorAngle(Amotor, 2, 0);
646
647 // These lowstops and high stops are effectively (no wiggle room)
648 if (_parent_scene.IsAvCapsuleTilted)
649 {
650 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
651 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
652 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
653 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
654 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
655 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
656 }
657 else
658 {
659 #region Documentation of capsule motor LowStop and HighStop parameters
660 // Intentionally introduce some tilt into the capsule by setting
661 // the motor stops to small epsilon values. This small tilt prevents
662 // the capsule from falling into the terrain; a straight-up capsule
663 // (with -0..0 motor stops) falls into the terrain for reasons yet
664 // to be comprehended in their entirety.
665 #endregion
666 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
667 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
668 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
669 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
670 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
671 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
672 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
673 }
674
675 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
676 // capped cyllinder will fall over
677 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
678 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
679
680 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
681 //d.QfromR(
682 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
683 //
684 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
685 //standupStraight();
686 }
687
688 //
689 /// <summary>
690 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
691 /// This may be used in calculations in the scene/scenepresence
692 /// </summary>
693 public override float Mass
694 {
695 get
696 {
697 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
698 return m_density*AVvolume;
699 }
700 }
701 public override void link(PhysicsActor obj)
702 {
703
704 }
705
706 public override void delink()
707 {
708
709 }
710
711 public override void LockAngularMotion(Vector3 axis)
712 {
713
714 }
715
716// This code is very useful. Written by DanX0r. We're just not using it right now.
717// Commented out to prevent a warning.
718//
719// private void standupStraight()
720// {
721// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
722// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
723// // change appearance and when you enter the simulator
724// // After this routine is done, the amotor stabilizes much quicker
725// d.Vector3 feet;
726// d.Vector3 head;
727// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
728// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
729// float posture = head.Z - feet.Z;
730
731// // restoring force proportional to lack of posture:
732// float servo = (2.5f - posture) * POSTURE_SERVO;
733// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
734// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
735// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
736// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
737// }
738
739 public override Vector3 Force
740 {
741 get { return _target_velocity; }
742 set { return; }
743 }
744
745 public override int VehicleType
746 {
747 get { return 0; }
748 set { return; }
749 }
750
751 public override void VehicleFloatParam(int param, float value)
752 {
753
754 }
755
756 public override void VehicleVectorParam(int param, Vector3 value)
757 {
758
759 }
760
761 public override void VehicleRotationParam(int param, Quaternion rotation)
762 {
763
764 }
765
766 public override void VehicleFlags(int flags, bool remove)
767 {
768 }
769
770 public override void SetVolumeDetect(int param)
771 {
772
773 }
774
775 public override Vector3 CenterOfMass
776 {
777 get { return Vector3.Zero; }
778 }
779
780 public override Vector3 GeometricCenter
781 {
782 get { return Vector3.Zero; }
783 }
784
785 public override PrimitiveBaseShape Shape
786 {
787 set { return; }
788 }
789
790 public override Vector3 Velocity
791 {
792 get {
793 // There's a problem with Vector3.Zero! Don't Use it Here!
794 if (_zeroFlag)
795 return Vector3.Zero;
796 m_lastUpdateSent = false;
797 return _velocity;
798 }
799 set
800 {
801 if (value.IsFinite())
802 {
803 m_pidControllerActive = true;
804 _target_velocity = value;
805 }
806 else
807 {
808 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
809 }
810 }
811 }
812
813 public override Vector3 Torque
814 {
815 get { return Vector3.Zero; }
816 set { return; }
817 }
818
819 public override float CollisionScore
820 {
821 get { return 0f; }
822 set { }
823 }
824
825 public override bool Kinematic
826 {
827 get { return false; }
828 set { }
829 }
830
831 public override Quaternion Orientation
832 {
833 get { return Quaternion.Identity; }
834 set {
835 //Matrix3 or = Orientation.ToRotationMatrix();
836 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
837 //d.BodySetRotation(Body, ref ord);
838 }
839 }
840
841 public override Vector3 Acceleration
842 {
843 get { return _acceleration; }
844 set { _acceleration = value; }
845 }
846
847 public void SetAcceleration(Vector3 accel)
848 {
849 m_pidControllerActive = true;
850 _acceleration = accel;
851 }
852
853 /// <summary>
854 /// Adds the force supplied to the Target Velocity
855 /// The PID controller takes this target velocity and tries to make it a reality
856 /// </summary>
857 /// <param name="force"></param>
858 public override void AddForce(Vector3 force, bool pushforce)
859 {
860 if (force.IsFinite())
861 {
862 if (pushforce)
863 {
864 m_pidControllerActive = false;
865 force *= 100f;
866//Console.WriteLine("DF 1"); // ##
867 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
868 doForce(force);
869 // If uncommented, things get pushed off world
870 //
871 // m_log.Debug("Push!");
872 // _target_velocity.X += force.X;
873 // _target_velocity.Y += force.Y;
874 // _target_velocity.Z += force.Z;
875 }
876 else
877 {
878 m_pidControllerActive = true;
879 _target_velocity.X += force.X;
880 _target_velocity.Y += force.Y;
881 _target_velocity.Z += force.Z;
882 }
883 }
884 else
885 {
886 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
887 }
888 //m_lastUpdateSent = false;
889 }
890
891 public override void AddAngularForce(Vector3 force, bool pushforce)
892 {
893
894 }
895
896 /// <summary>
897 /// After all of the forces add up with 'add force' we apply them with doForce
898 /// </summary>
899 /// <param name="force"></param>
900 public void doForce(Vector3 force)
901 {
902 if (!collidelock)
903 {
904 d.BodyAddForce(Body, force.X, force.Y, force.Z);
905 //d.BodySetRotation(Body, ref m_StandUpRotation);
906 //standupStraight();
907 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
908//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
909 }
910 }
911
912 public override void SetMomentum(Vector3 momentum)
913 {
914 }
915
916
917 /// <summary>
918 /// Called from Simulate
919 /// This is the avatar's movement control + PID Controller
920 /// </summary>
921 /// <param name="timeStep"></param>
922 public void Move(float timeStep, List<OdeCharacter> defects)
923 {
924 // no lock; for now it's only called from within Simulate()
925
926 // If the PID Controller isn't active then we set our force
927 // calculating base velocity to the current position
928
929 if (Body == IntPtr.Zero)
930 return;
931
932 if (m_pidControllerActive == false)
933 {
934 _zeroPosition = d.BodyGetPosition(Body);
935 }
936 //PidStatus = true;
937
938 d.Vector3 localpos = d.BodyGetPosition(Body);
939 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
940
941 if (!localPos.IsFinite())
942 {
943
944 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
945 defects.Add(this);
946 // _parent_scene.RemoveCharacter(this);
947
948 // destroy avatar capsule and related ODE data
949 if (Amotor != IntPtr.Zero)
950 {
951 // Kill the Amotor
952 d.JointDestroy(Amotor);
953 Amotor = IntPtr.Zero;
954 }
955
956 //kill the Geometry
957 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
958
959 if (Body != IntPtr.Zero)
960 {
961 //kill the body
962 d.BodyDestroy(Body);
963
964 Body = IntPtr.Zero;
965 }
966
967 if(Shell != IntPtr.Zero)
968 {
969 try
970 {
971 d.GeomDestroy(Shell);
972 }
973 catch (System.AccessViolationException)
974 {
975 m_log.Error("[PHYSICS]: PrimGeom dead");
976 }
977 // Remove any old entries
978//string tShell;
979//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
980//Console.WriteLine("**** Remove {0}", tShell);
981
982 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
983 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
984 Shell = IntPtr.Zero;
985 }
986
987 return;
988 }
989
990 Vector3 vec = Vector3.Zero;
991 d.Vector3 vel = d.BodyGetLinearVel(Body);
992
993 float movementdivisor = 1f;
994
995 if (!m_alwaysRun)
996 {
997 movementdivisor = walkDivisor;
998 }
999 else
1000 {
1001 movementdivisor = runDivisor;
1002 }
1003
1004 // if velocity is zero, use position control; otherwise, velocity control
1005 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1006 {
1007 // keep track of where we stopped. No more slippin' & slidin'
1008 if (!_zeroFlag)
1009 {
1010 _zeroFlag = true;
1011 _zeroPosition = d.BodyGetPosition(Body);
1012 }
1013 if (m_pidControllerActive)
1014 {
1015 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1016 // react to the physics scene by moving it's position.
1017 // Avatar to Avatar collisions
1018 // Prim to avatar collisions
1019
1020 d.Vector3 pos = d.BodyGetPosition(Body);
1021 float errX = _zeroPosition.X - pos.X;
1022 float errY = _zeroPosition.Y - pos.Y;
1023 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1024 {
1025 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1026 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1027 }
1028 else
1029 { // close, jump to lateral destination
1030 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1031 }
1032// if (flying)
1033 if (flying || jumping) // add for jumping
1034 {
1035 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1036 }
1037 }
1038 //PidStatus = true;
1039 }
1040 else
1041 {
1042 m_pidControllerActive = true;
1043 _zeroFlag = false;
1044 if (m_iscolliding && !flying)
1045 {
1046 // We're standing on something
1047 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1048 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1049 }
1050 else if (m_iscolliding && flying)
1051 {
1052 // We're flying and colliding with something
1053 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1054 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1055 }
1056 else if (!m_iscolliding && flying)
1057 {
1058 // we're in mid air suspended
1059 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1060 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1061 }
1062
1063 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1064 {
1065 // We're colliding with something and we're not flying but we're moving
1066 // This means we're walking or running.
1067 d.Vector3 pos = d.BodyGetPosition(Body);
1068 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1069 if (_target_velocity.X > 0)
1070 {
1071 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1072 }
1073 if (_target_velocity.Y > 0)
1074 {
1075 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1076 }
1077 }
1078 else if (!m_iscolliding && !flying)
1079 {
1080 // we're not colliding and we're not flying so that means we're falling!
1081 // m_iscolliding includes collisions with the ground.
1082
1083 // d.Vector3 pos = d.BodyGetPosition(Body);
1084 if (Math.Abs(_target_velocity.X) > 0)
1085 {
1086 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1087 }
1088 if (Math.Abs(_target_velocity.Y) > 0)
1089 {
1090 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1091 }
1092 }
1093
1094 if (flying)
1095 {
1096 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1097 }
1098 }
1099 if (flying)
1100 {
1101 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1102
1103 //Added for auto fly height. Kitto Flora
1104 //d.Vector3 pos = d.BodyGetPosition(Body);
1105 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1106
1107 if (_position.Z < target_altitude)
1108 {
1109 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1110 }
1111 // end add Kitto Flora
1112 }
1113 if (vec.IsFinite())
1114 {
1115 if (!vec.ApproxEquals(Vector3.Zero, 0.02f)) // 0.01 allows 0.002 !!
1116 {
1117//Console.WriteLine("DF 2"); // ##
1118
1119 doForce(vec);
1120 if (!_zeroFlag)
1121 {
1122// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1123 }
1124 }
1125 }
1126 else
1127 {
1128 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1129 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1130 defects.Add(this);
1131 // _parent_scene.RemoveCharacter(this);
1132 // destroy avatar capsule and related ODE data
1133 if (Amotor != IntPtr.Zero)
1134 {
1135 // Kill the Amotor
1136 d.JointDestroy(Amotor);
1137 Amotor = IntPtr.Zero;
1138 }
1139 //kill the Geometry
1140 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1141
1142 if (Body != IntPtr.Zero)
1143 {
1144 //kill the body
1145 d.BodyDestroy(Body);
1146
1147 Body = IntPtr.Zero;
1148 }
1149
1150 if(Shell != IntPtr.Zero)
1151 {
1152 try
1153 {
1154 d.GeomDestroy(Shell);
1155 }
1156 catch (System.AccessViolationException)
1157 {
1158 m_log.Error("[PHYSICS]: PrimGeom dead");
1159 }
1160 // Remove any old entries
1161//string tShell;
1162//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1163//Console.WriteLine("**** Remove {0}", tShell);
1164
1165 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1166 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1167 Shell = IntPtr.Zero;
1168 }
1169 }
1170 }
1171
1172 /// <summary>
1173 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1174 /// </summary>
1175 public void UpdatePositionAndVelocity()
1176 {
1177 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1178 d.Vector3 vec;
1179 try
1180 {
1181 vec = d.BodyGetPosition(Body);
1182 }
1183 catch (NullReferenceException)
1184 {
1185 bad = true;
1186 _parent_scene.BadCharacter(this);
1187 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1188 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1189 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1190 }
1191
1192
1193 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1194 if (vec.X < 0.0f) vec.X = 0.0f;
1195 if (vec.Y < 0.0f) vec.Y = 0.0f;
1196 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1197 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1198
1199 _position.X = vec.X;
1200 _position.Y = vec.Y;
1201 _position.Z = vec.Z;
1202
1203 // Did we move last? = zeroflag
1204 // This helps keep us from sliding all over
1205
1206 if (_zeroFlag)
1207 {
1208 _velocity.X = 0.0f;
1209 _velocity.Y = 0.0f;
1210 _velocity.Z = 0.0f;
1211
1212 // Did we send out the 'stopped' message?
1213 if (!m_lastUpdateSent)
1214 {
1215 m_lastUpdateSent = true;
1216 //base.RequestPhysicsterseUpdate();
1217
1218 }
1219 }
1220 else
1221 {
1222 m_lastUpdateSent = false;
1223 try
1224 {
1225 vec = d.BodyGetLinearVel(Body);
1226 }
1227 catch (NullReferenceException)
1228 {
1229 vec.X = _velocity.X;
1230 vec.Y = _velocity.Y;
1231 vec.Z = _velocity.Z;
1232 }
1233 _velocity.X = (vec.X);
1234 _velocity.Y = (vec.Y);
1235
1236 _velocity.Z = (vec.Z);
1237
1238 if (_velocity.Z < -6 && !m_hackSentFall)
1239 {
1240 m_hackSentFall = true;
1241 m_pidControllerActive = false;
1242 }
1243 else if (flying && !m_hackSentFly)
1244 {
1245 //m_hackSentFly = true;
1246 //base.SendCollisionUpdate(new CollisionEventUpdate());
1247 }
1248 else
1249 {
1250 m_hackSentFly = false;
1251 m_hackSentFall = false;
1252 }
1253 }
1254 }
1255
1256 /// <summary>
1257 /// Cleanup the things we use in the scene.
1258 /// </summary>
1259 public void Destroy()
1260 {
1261 m_tainted_isPhysical = false;
1262 _parent_scene.AddPhysicsActorTaint(this);
1263 }
1264
1265 public override void CrossingFailure()
1266 {
1267 }
1268
1269 public override Vector3 PIDTarget { set { return; } }
1270 public override bool PIDActive { set { return; } }
1271 public override float PIDTau { set { return; } }
1272
1273 public override float PIDHoverHeight { set { return; } }
1274 public override bool PIDHoverActive { set { return; } }
1275 public override PIDHoverType PIDHoverType { set { return; } }
1276 public override float PIDHoverTau { set { return; } }
1277
1278 public override Quaternion APIDTarget{ set { return; } }
1279
1280 public override bool APIDActive{ set { return; } }
1281
1282 public override float APIDStrength{ set { return; } }
1283
1284 public override float APIDDamping{ set { return; } }
1285
1286
1287 public override void SubscribeEvents(int ms)
1288 {
1289 m_requestedUpdateFrequency = ms;
1290 m_eventsubscription = ms;
1291 _parent_scene.addCollisionEventReporting(this);
1292 }
1293 public override void UnSubscribeEvents()
1294 {
1295 _parent_scene.remCollisionEventReporting(this);
1296 m_requestedUpdateFrequency = 0;
1297 m_eventsubscription = 0;
1298 }
1299 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1300 {
1301 if (m_eventsubscription > 0)
1302 {
1303 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1304 }
1305 }
1306
1307 public void SendCollisions()
1308 {
1309 if (m_eventsubscription > m_requestedUpdateFrequency)
1310 {
1311 if (CollisionEventsThisFrame != null)
1312 {
1313 base.SendCollisionUpdate(CollisionEventsThisFrame);
1314 }
1315 CollisionEventsThisFrame = new CollisionEventUpdate();
1316 m_eventsubscription = 0;
1317 }
1318 }
1319 public override bool SubscribedEvents()
1320 {
1321 if (m_eventsubscription > 0)
1322 return true;
1323 return false;
1324 }
1325
1326 public void ProcessTaints(float timestep)
1327 {
1328 lock (m_syncRoot)
1329 {
1330
1331 if (m_tainted_isPhysical != m_isPhysical)
1332 {
1333 if (m_tainted_isPhysical)
1334 {
1335 // Create avatar capsule and related ODE data
1336 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1337 {
1338 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1339 + (Shell!=IntPtr.Zero ? "Shell ":"")
1340 + (Body!=IntPtr.Zero ? "Body ":"")
1341 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1342 }
1343 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1344 _parent_scene.AddCharacter(this);
1345 }
1346 else
1347 {
1348 _parent_scene.RemoveCharacter(this);
1349 // destroy avatar capsule and related ODE data
1350 if (Amotor != IntPtr.Zero)
1351 {
1352 // Kill the Amotor
1353 d.JointDestroy(Amotor);
1354 Amotor = IntPtr.Zero;
1355 }
1356 //kill the Geometry
1357 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1358
1359 if (Body != IntPtr.Zero)
1360 {
1361 //kill the body
1362 d.BodyDestroy(Body);
1363 Body = IntPtr.Zero;
1364 }
1365
1366 if(Shell != IntPtr.Zero)
1367 {
1368 try
1369 {
1370 d.GeomDestroy(Shell);
1371 }
1372 catch (System.AccessViolationException)
1373 {
1374 m_log.Error("[PHYSICS]: PrimGeom dead");
1375 }
1376 // Remove any old entries
1377 //string tShell;
1378 //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1379 //Console.WriteLine("**** Remove {0}", tShell);
1380
1381 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1382 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1383 Shell = IntPtr.Zero;
1384 }
1385 }
1386
1387 m_isPhysical = m_tainted_isPhysical;
1388 }
1389
1390 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1391 {
1392 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1393 {
1394
1395 m_pidControllerActive = true;
1396 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1397 d.JointDestroy(Amotor);
1398 float prevCapsule = CAPSULE_LENGTH;
1399 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1400 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1401 d.BodyDestroy(Body);
1402 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1403 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1404 Velocity = Vector3.Zero;
1405 }
1406 else
1407 {
1408 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1409 + (Shell==IntPtr.Zero ? "Shell ":"")
1410 + (Body==IntPtr.Zero ? "Body ":"")
1411 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1412 }
1413 }
1414
1415 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1416 {
1417 if (Body != IntPtr.Zero)
1418 {
1419 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1420
1421 _position.X = m_taintPosition.X;
1422 _position.Y = m_taintPosition.Y;
1423 _position.Z = m_taintPosition.Z;
1424 }
1425 }
1426
1427 }
1428 }
1429
1430 internal void AddCollisionFrameTime(int p)
1431 {
1432 // protect it from overflow crashing
1433 if (m_eventsubscription + p >= int.MaxValue)
1434 m_eventsubscription = 0;
1435 m_eventsubscription += p;
1436 }
1437 }
1438}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..3e2b71c
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,4082 @@
1/* Copyright (c) Contributors, http://opensimulator.org/
2 * See CONTRIBUTORS.TXT for a full list of copyright holders.
3 * Redistribution and use in source and binary forms, with or without
4 * modification, are permitted provided that the following conditions are met:
5 * * Redistributions of source code must retain the above copyright
6 * notice, this list of conditions and the following disclaimer.
7 * * Redistributions in binary form must reproduce the above copyright
8 * notice, this list of conditions and the following disclaimer in the
9 * documentation and/or other materials provided with the distribution.
10 * * Neither the name of the OpenSimulator Project nor the
11 * names of its contributors may be used to endorse or promote products
12 * derived from this software without specific prior written permission.
13 *
14 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
15 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
16 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
17 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
18 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
19 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
20 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
21 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 *
25 * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs
26 * Ubit 2012
27 * rolled into ODEPrim.cs
28 */
29
30using System;
31using System.IO;
32using System.Collections.Generic;
33using System.Reflection;
34using System.Runtime.InteropServices;
35using System.Threading;
36using log4net;
37using OpenMetaverse;
38using Ode.NET;
39using OpenSim.Framework;
40using OpenSim.Region.Physics.Manager;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
46 /// </summary>
47
48 public class OdePrim : PhysicsActor
49 {
50 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
51
52 public class SerialControl
53 {
54 public object alock = new object();
55 public byte[] data = new byte[0];
56 }
57 private Vector3 _position;
58 private Vector3 _velocity;
59 private Vector3 _torque;
60 private Vector3 m_lastVelocity;
61 private Vector3 m_lastposition;
62 private Quaternion m_lastorientation = new Quaternion();
63 private Vector3 m_rotationalVelocity;
64 private Vector3 _size;
65 private Vector3 _acceleration;
66 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
67 private Quaternion _orientation;
68 private Vector3 m_taintposition;
69 private Vector3 m_taintsize;
70 private Vector3 m_taintVelocity;
71 private Vector3 m_taintTorque;
72 private Quaternion m_taintrot;
73 private Vector3 m_rotateEnable = Vector3.One; // Current setting
74 private Vector3 m_rotateEnableRequest = Vector3.One; // Request from LSL
75 private bool m_rotateEnableUpdate = false;
76 private Vector3 m_lockX;
77 private Vector3 m_lockY;
78 private Vector3 m_lockZ;
79 private IntPtr Amotor = IntPtr.Zero;
80 private IntPtr AmotorX = IntPtr.Zero;
81 private IntPtr AmotorY = IntPtr.Zero;
82 private IntPtr AmotorZ = IntPtr.Zero;
83
84 private Vector3 m_PIDTarget;
85 private float m_PIDTau;
86 private float PID_D = 35f;
87 private float PID_G = 25f;
88 private bool m_usePID = false;
89
90 private Quaternion m_APIDTarget = new Quaternion();
91 private float m_APIDStrength = 0.5f;
92 private float m_APIDDamping = 0.5f;
93 private bool m_useAPID = false;
94 private float m_APIDdamper = 1.0f;
95
96 // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
97 // do not confuse with VEHICLE HOVER
98
99 private float m_PIDHoverHeight;
100 private float m_PIDHoverTau;
101 private bool m_useHoverPID;
102 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
103 private float m_targetHoverHeight;
104 private float m_groundHeight;
105 private float m_waterHeight;
106 private float m_buoyancy; //m_buoyancy set by llSetBuoyancy()
107
108 // private float m_tensor = 5f;
109 private int body_autodisable_frames = 20;
110
111
112 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
113 | CollisionCategories.Space
114 | CollisionCategories.Body
115 | CollisionCategories.Character
116 );
117 private bool m_taintshape;
118 private bool m_taintPhysics;
119 private bool m_collidesLand = true;
120 private bool m_collidesWater;
121 // public bool m_returnCollisions;
122
123 // Default we're a Geometry
124 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
125
126 // Default, Collide with Other Geometries, spaces and Bodies
127 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
128
129 public bool m_taintremove;
130 public bool m_taintdisable;
131 public bool m_disabled;
132 public bool m_taintadd;
133 public bool m_taintselected;
134 public bool m_taintphantom;
135 public bool m_taintCollidesWater;
136
137 public uint m_localID;
138
139 //public GCHandle gc;
140 private CollisionLocker ode;
141
142 private bool m_meshfailed = false;
143 private bool m_taintforce = false;
144 private bool m_taintaddangularforce = false;
145 private Vector3 m_force;
146 private List<Vector3> m_forcelist = new List<Vector3>();
147 private List<Vector3> m_angularforcelist = new List<Vector3>();
148
149 private IMesh _mesh;
150 private PrimitiveBaseShape _pbs;
151 private OdeScene _parent_scene;
152 public IntPtr m_targetSpace = IntPtr.Zero;
153 public IntPtr prim_geom;
154 // public IntPtr prev_geom;
155 public IntPtr _triMeshData;
156
157 private IntPtr _linkJointGroup = IntPtr.Zero;
158 private PhysicsActor _parent;
159 private PhysicsActor m_taintparent;
160
161 private List<OdePrim> childrenPrim = new List<OdePrim>();
162
163 private bool iscolliding;
164 private bool m_isphysical;
165 private bool m_isphantom;
166 private bool m_isSelected;
167
168 private bool m_NoColide; // for now only for internal use for bad meshs
169
170 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
171
172 private bool m_throttleUpdates;
173 private int throttleCounter;
174 public int m_interpenetrationcount;
175 public float m_collisionscore;
176 // public int m_roundsUnderMotionThreshold;
177 // private int m_crossingfailures;
178
179 public bool m_outofBounds;
180 private float m_density = 10.000006836f; // Aluminum g/cm3;
181
182 private byte m_shapetype;
183 private byte m_taintshapetype;
184
185 public bool _zeroFlag; // if body has been stopped
186 private bool m_lastUpdateSent;
187
188 public IntPtr Body = IntPtr.Zero;
189 public String m_primName;
190 private Vector3 _target_velocity;
191 public d.Mass pMass;
192
193 public int m_eventsubscription;
194 private CollisionEventUpdate CollisionEventsThisFrame;
195
196 private IntPtr m_linkJoint = IntPtr.Zero;
197
198 public volatile bool childPrim;
199
200 internal int m_material = (int)Material.Wood;
201
202 private IntPtr m_body = IntPtr.Zero;
203
204 // Vehicle properties ============================================================================================
205 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
206 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
207 private VehicleFlag m_flags = (VehicleFlag)0; // Bit settings:
208 // HOVER_TERRAIN_ONLY
209 // HOVER_GLOBAL_HEIGHT
210 // NO_DEFLECTION_UP
211 // HOVER_WATER_ONLY
212 // HOVER_UP_ONLY
213 // LIMIT_MOTOR_UP
214 // LIMIT_ROLL_ONLY
215
216 // Linear properties
217 private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
218 //requested by LSL
219 private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
220 private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
221 private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
222
223 private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
224 private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
225 private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
226
227 //Angular properties
228 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
229
230 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
231 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
232 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
233
234 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
235 // private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
236 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
237
238 //Deflection properties
239 // private float m_angularDeflectionEfficiency = 0;
240 // private float m_angularDeflectionTimescale = 0;
241 // private float m_linearDeflectionEfficiency = 0;
242 // private float m_linearDeflectionTimescale = 0;
243
244 //Banking properties
245 // private float m_bankingEfficiency = 0;
246 // private float m_bankingMix = 0;
247 // private float m_bankingTimescale = 0;
248
249 //Hover and Buoyancy properties
250 private float m_VhoverHeight = 0f;
251 // private float m_VhoverEfficiency = 0f;
252 private float m_VhoverTimescale = 0f;
253 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
254 private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
255 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
256 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
257 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
258
259 //Attractor properties
260 private float m_verticalAttractionEfficiency = 1.0f; // damped
261 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
262
263// SerialControl m_taintserial = null;
264 object m_taintvehicledata = null;
265
266 public void DoSetVehicle()
267 {
268 VehicleData vd = (VehicleData)m_taintvehicledata;
269
270 m_type = vd.m_type;
271 m_flags = vd.m_flags;
272
273 // Linear properties
274 m_linearMotorDirection = vd.m_linearMotorDirection;
275 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
276 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
277 m_linearMotorTimescale = vd.m_linearMotorTimescale;
278// m_linearMotorOffset = vd.m_linearMotorOffset;
279
280 //Angular properties
281 m_angularMotorDirection = vd.m_angularMotorDirection;
282 m_angularMotorTimescale = vd.m_angularMotorTimescale;
283 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
284 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
285
286 //Deflection properties
287// m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
288// m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
289// m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
290// m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
291
292 //Banking properties
293// m_bankingEfficiency = vd.m_bankingEfficiency;
294// m_bankingMix = vd.m_bankingMix;
295// m_bankingTimescale = vd.m_bankingTimescale;
296
297 //Hover and Buoyancy properties
298 m_VhoverHeight = vd.m_VhoverHeight;
299// m_VhoverEfficiency = vd.m_VhoverEfficiency;
300 m_VhoverTimescale = vd.m_VhoverTimescale;
301 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
302
303 //Attractor properties
304 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
305 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
306
307 // Axis
308// m_referenceFrame = vd.m_referenceFrame;
309
310
311 m_taintvehicledata = null;
312 }
313
314 public override void SetVehicle(object vdata)
315 {
316 m_taintvehicledata = vdata;
317 _parent_scene.AddPhysicsActorTaint(this);
318 }
319
320 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
321 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical,
322 bool pisPhantom,byte shapetype, CollisionLocker dode, uint localid)
323 {
324 m_localID = localid;
325 ode = dode;
326 if (!pos.IsFinite())
327 {
328 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
329 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
330 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
331 }
332
333 _position = pos;
334 m_taintposition = pos;
335 PID_D = parent_scene.bodyPIDD;
336 PID_G = parent_scene.bodyPIDG;
337 m_density = parent_scene.geomDefaultDensity;
338 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
339 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
340
341 prim_geom = IntPtr.Zero;
342 // prev_geom = IntPtr.Zero;
343
344 if (!pos.IsFinite())
345 {
346 size = new Vector3(0.5f, 0.5f, 0.5f);
347 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
348 }
349
350 if (size.X <= 0) size.X = 0.01f;
351 if (size.Y <= 0) size.Y = 0.01f;
352 if (size.Z <= 0) size.Z = 0.01f;
353
354 _size = size;
355 m_taintsize = _size;
356
357 if (!QuaternionIsFinite(rotation))
358 {
359 rotation = Quaternion.Identity;
360 m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
361 }
362
363 _orientation = rotation;
364 m_taintrot = _orientation;
365 _mesh = mesh;
366 _pbs = pbs;
367 m_shapetype = shapetype;
368 m_taintshapetype = shapetype;
369
370 _parent_scene = parent_scene;
371 m_targetSpace = (IntPtr)0;
372
373 // if (pos.Z < 0)
374 if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
375 m_isphysical = false;
376 else
377 {
378 m_isphysical = pisPhysical;
379 // If we're physical, we need to be in the master space for now.
380 // linksets *should* be in a space together.. but are not currently
381 if (m_isphysical)
382 m_targetSpace = _parent_scene.space;
383 }
384
385 m_isphantom = pisPhantom;
386 m_taintphantom = pisPhantom;
387
388 _triMeshData = IntPtr.Zero;
389 m_NoColide = false;
390
391// m_taintserial = null;
392 m_primName = primName;
393 m_taintadd = true;
394 _parent_scene.AddPhysicsActorTaint(this);
395 // don't do .add() here; old geoms get recycled with the same hash
396 }
397
398 public override int PhysicsActorType
399 {
400 get { return (int)ActorTypes.Prim; }
401 set { return; }
402 }
403
404 public override bool SetAlwaysRun
405 {
406 get { return false; }
407 set { return; }
408 }
409
410 public override uint LocalID
411 {
412 set
413 {
414 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
415 m_localID = value;
416 }
417 }
418
419 public override bool Grabbed
420 {
421 set { return; }
422 }
423
424 public override bool Selected
425 {
426 set
427 {
428 //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
429 // This only makes the object not collidable if the object
430 // is physical or the object is modified somehow *IN THE FUTURE*
431 // without this, if an avatar selects prim, they can walk right
432 // through it while it's selected
433 m_collisionscore = 0;
434 if ((m_isphysical && !_zeroFlag) || !value)
435 {
436 m_taintselected = value;
437 _parent_scene.AddPhysicsActorTaint(this);
438 }
439 else
440 {
441 m_taintselected = value;
442 m_isSelected = value;
443 }
444 if (m_isSelected) disableBodySoft();
445 }
446 }
447
448 public override bool IsPhysical
449 {
450 get { return m_isphysical; }
451 set
452 {
453 m_isphysical = value;
454 if (!m_isphysical)
455 { // Zero the remembered last velocity
456 m_lastVelocity = Vector3.Zero;
457 if (m_type != Vehicle.TYPE_NONE) Halt();
458 }
459 }
460 }
461
462 public override bool Phantom
463 {
464 get { return m_isphantom; }
465 set
466 {
467 m_isphantom = value;
468 }
469 }
470
471 public void setPrimForRemoval()
472 {
473 m_taintremove = true;
474 }
475
476 public override bool Flying
477 {
478 // no flying prims for you
479 get { return false; }
480 set { }
481 }
482
483 public override bool IsColliding
484 {
485 get { return iscolliding; }
486 set { iscolliding = value; }
487 }
488
489 public override bool CollidingGround
490 {
491 get { return false; }
492 set { return; }
493 }
494
495 public override bool CollidingObj
496 {
497 get { return false; }
498 set { return; }
499 }
500
501 public override bool ThrottleUpdates
502 {
503 get { return m_throttleUpdates; }
504 set { m_throttleUpdates = value; }
505 }
506
507 public override bool Stopped
508 {
509 get { return _zeroFlag; }
510 }
511
512 public override Vector3 Position
513 {
514 get { return _position; }
515
516 set
517 {
518 _position = value;
519 //m_log.Info("[PHYSICS]: " + _position.ToString());
520 }
521 }
522
523 public override Vector3 Size
524 {
525 get { return _size; }
526 set
527 {
528 if (value.IsFinite())
529 {
530 _size = value;
531 }
532 else
533 {
534 m_log.Warn("[PHYSICS]: Got NaN Size on object");
535 }
536 }
537 }
538
539 public override float Mass
540 {
541 get { return CalculateMass(); }
542 }
543
544 public override Vector3 Force
545 {
546 //get { return Vector3.Zero; }
547 get { return m_force; }
548 set
549 {
550 if (value.IsFinite())
551 {
552 m_force = value;
553 }
554 else
555 {
556 m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
557 }
558 }
559 }
560
561 public override int VehicleType
562 {
563 get { return (int)m_type; }
564 set { ProcessTypeChange((Vehicle)value); }
565 }
566
567 public override void VehicleFloatParam(int param, float value)
568 {
569 ProcessFloatVehicleParam((Vehicle)param, value);
570 }
571
572 public override void VehicleVectorParam(int param, Vector3 value)
573 {
574 ProcessVectorVehicleParam((Vehicle)param, value);
575 }
576
577 public override void VehicleRotationParam(int param, Quaternion rotation)
578 {
579 ProcessRotationVehicleParam((Vehicle)param, rotation);
580 }
581
582 public override void VehicleFlags(int param, bool remove)
583 {
584 ProcessVehicleFlags(param, remove);
585 }
586
587 public override void SetVolumeDetect(int param)
588 {
589 lock (_parent_scene.OdeLock)
590 {
591 m_isVolumeDetect = (param != 0);
592 }
593 }
594
595 public override Vector3 CenterOfMass
596 {
597 get { return Vector3.Zero; }
598 }
599
600 public override Vector3 GeometricCenter
601 {
602 get { return Vector3.Zero; }
603 }
604
605 public override PrimitiveBaseShape Shape
606 {
607 set
608 {
609 _pbs = value;
610 m_taintshape = true;
611 }
612 }
613
614 public override byte PhysicsShapeType
615 {
616 get
617 {
618 return m_shapetype;
619 }
620 set
621 {
622 m_taintshapetype = value;
623 _parent_scene.AddPhysicsActorTaint(this);
624 }
625 }
626
627 public override Vector3 Velocity
628 {
629 get
630 {
631 // Averate previous velocity with the new one so
632 // client object interpolation works a 'little' better
633 if (_zeroFlag)
634 return Vector3.Zero;
635
636 Vector3 returnVelocity = Vector3.Zero;
637 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
638 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
639 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
640 return returnVelocity;
641 }
642 set
643 {
644 if (value.IsFinite())
645 {
646 _velocity = value;
647 if (_velocity.ApproxEquals(Vector3.Zero, 0.001f))
648 _acceleration = Vector3.Zero;
649
650 m_taintVelocity = value;
651 _parent_scene.AddPhysicsActorTaint(this);
652 }
653 else
654 {
655 m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
656 }
657
658 }
659 }
660
661 public override Vector3 Torque
662 {
663 get
664 {
665 if (!m_isphysical || Body == IntPtr.Zero)
666 return Vector3.Zero;
667
668 return _torque;
669 }
670
671 set
672 {
673 if (value.IsFinite())
674 {
675 m_taintTorque = value;
676 _parent_scene.AddPhysicsActorTaint(this);
677 }
678 else
679 {
680 m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
681 }
682 }
683 }
684
685 public override float CollisionScore
686 {
687 get { return m_collisionscore; }
688 set { m_collisionscore = value; }
689 }
690
691 public override bool Kinematic
692 {
693 get { return false; }
694 set { }
695 }
696
697 public override Quaternion Orientation
698 {
699 get { return _orientation; }
700 set
701 {
702 if (QuaternionIsFinite(value))
703 {
704 _orientation = value;
705 }
706 else
707 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
708
709 }
710 }
711
712 public override bool FloatOnWater
713 {
714 set
715 {
716 m_taintCollidesWater = value;
717 _parent_scene.AddPhysicsActorTaint(this);
718 }
719 }
720
721 public override void SetMomentum(Vector3 momentum)
722 {
723 }
724
725 public override Vector3 PIDTarget
726 {
727 set
728 {
729 if (value.IsFinite())
730 {
731 m_PIDTarget = value;
732 }
733 else
734 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
735 }
736 }
737 public override bool PIDActive { set { m_usePID = value; } }
738 public override float PIDTau { set { m_PIDTau = value; } }
739
740 // For RotLookAt
741 public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
742 public override bool APIDActive { set { m_useAPID = value; } }
743 public override float APIDStrength { set { m_APIDStrength = value; } }
744 public override float APIDDamping { set { m_APIDDamping = value; } }
745
746 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
747 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
748 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
749 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
750
751 internal static bool QuaternionIsFinite(Quaternion q)
752 {
753 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
754 return false;
755 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
756 return false;
757 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
758 return false;
759 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
760 return false;
761 return true;
762 }
763
764 public override Vector3 Acceleration // client updates read data via here
765 {
766 get
767 {
768 if (_zeroFlag)
769 {
770 return Vector3.Zero;
771 }
772 return _acceleration;
773 }
774 set { _acceleration = value; }
775 }
776
777
778 public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
779 {
780 _acceleration = accel;
781 }
782
783 public override void AddForce(Vector3 force, bool pushforce)
784 {
785 if (force.IsFinite())
786 {
787 lock (m_forcelist)
788 m_forcelist.Add(force);
789
790 m_taintforce = true;
791 }
792 else
793 {
794 m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
795 }
796 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
797 }
798
799 public override void AddAngularForce(Vector3 force, bool pushforce)
800 {
801 if (force.IsFinite())
802 {
803 m_angularforcelist.Add(force);
804 m_taintaddangularforce = true;
805 }
806 else
807 {
808 m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
809 }
810 }
811
812 public override Vector3 RotationalVelocity
813 {
814 get
815 {
816 return m_rotationalVelocity;
817 }
818 set
819 {
820 if (value.IsFinite())
821 {
822 m_rotationalVelocity = value;
823 }
824 else
825 {
826 m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
827 }
828 }
829 }
830
831 public override void CrossingFailure()
832 {
833 if (m_outofBounds)
834 {
835 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
836 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
837 _position.Z = Util.Clip(_position.Z, -100f, 50000f);
838 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
839
840 m_lastposition = _position;
841
842 _velocity = Vector3.Zero;
843 m_lastVelocity = _velocity;
844
845
846 if (m_type != Vehicle.TYPE_NONE)
847 Halt();
848
849 d.BodySetLinearVel(Body, 0, 0, 0);
850 base.RequestPhysicsterseUpdate();
851 m_outofBounds = false;
852 }
853 /*
854 int tmp = Interlocked.Increment(ref m_crossingfailures);
855 if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
856 {
857 base.RaiseOutOfBounds(_position);
858 return;
859 }
860 else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
861 {
862 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
863 }
864 */
865 }
866
867 public override float Buoyancy
868 {
869 get { return m_buoyancy; }
870 set { m_buoyancy = value; }
871 }
872
873 public override void link(PhysicsActor obj)
874 {
875 m_taintparent = obj;
876 }
877
878 public override void delink()
879 {
880 m_taintparent = null;
881 }
882
883 public override void LockAngularMotion(Vector3 axis)
884 {
885 // This is actually ROTATION ENABLE, not a lock.
886 // default is <1,1,1> which is all enabled.
887 // The lock value is updated inside Move(), no point in using the taint system.
888 // OS 'm_taintAngularLock' etc change to m_rotateEnable.
889 if (axis.IsFinite())
890 {
891 axis.X = (axis.X > 0) ? 1f : 0f;
892 axis.Y = (axis.Y > 0) ? 1f : 0f;
893 axis.Z = (axis.Z > 0) ? 1f : 0f;
894 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
895 m_rotateEnableRequest = axis;
896 m_rotateEnableUpdate = true;
897 }
898 else
899 {
900 m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
901 }
902 }
903
904 public void SetGeom(IntPtr geom)
905 {
906 if (prim_geom != IntPtr.Zero)
907 {
908 // Remove any old entries
909 //string tPA;
910 //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
911 //Console.WriteLine("**** Remove {0}", tPA);
912 if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
913 if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
914 d.GeomDestroy(prim_geom);
915 }
916
917 prim_geom = geom;
918 //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
919 if (prim_geom != IntPtr.Zero)
920 {
921 _parent_scene.geom_name_map[prim_geom] = this.m_primName;
922 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
923 //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
924 if (m_NoColide)
925 {
926 d.GeomSetCategoryBits(prim_geom, 0);
927 if (m_isphysical && !m_isVolumeDetect)
928 {
929 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
930 }
931 else
932 {
933 d.GeomSetCollideBits(prim_geom, 0);
934 d.GeomDisable(prim_geom);
935 }
936 }
937 else
938 {
939 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
940 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
941 }
942 }
943
944 if (childPrim)
945 {
946 if (_parent != null && _parent is OdePrim)
947 {
948 OdePrim parent = (OdePrim)_parent;
949 //Console.WriteLine("SetGeom calls ChildSetGeom");
950 parent.ChildSetGeom(this);
951 }
952 }
953 //m_log.Warn("Setting Geom to: " + prim_geom);
954 }
955
956 public void enableBodySoft()
957 {
958 if (!childPrim)
959 {
960 if (m_isphysical && Body != IntPtr.Zero)
961 {
962 d.BodyEnable(Body);
963 if (m_type != Vehicle.TYPE_NONE)
964 Enable(Body, _parent_scene);
965 }
966
967 m_disabled = false;
968 }
969 }
970
971 public void disableBodySoft()
972 {
973 m_disabled = true;
974
975 if (m_isphysical && Body != IntPtr.Zero)
976 {
977 d.BodyDisable(Body);
978 Halt();
979 }
980 }
981
982 public void enableBody()
983 {
984 // Don't enable this body if we're a child prim
985 // this should be taken care of in the parent function not here
986 if (!childPrim)
987 {
988 // Sets the geom to a body
989 Body = d.BodyCreate(_parent_scene.world);
990
991 setMass();
992 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
993 d.Quaternion myrot = new d.Quaternion();
994 myrot.X = _orientation.X;
995 myrot.Y = _orientation.Y;
996 myrot.Z = _orientation.Z;
997 myrot.W = _orientation.W;
998 d.BodySetQuaternion(Body, ref myrot);
999 d.GeomSetBody(prim_geom, Body);
1000
1001 m_collisionCategories |= CollisionCategories.Body;
1002 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1003
1004 if (m_NoColide)
1005 {
1006 d.GeomSetCategoryBits(prim_geom, 0);
1007 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1008 }
1009 else
1010 {
1011 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1012 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1013 }
1014
1015 d.BodySetAutoDisableFlag(Body, true);
1016 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1017
1018 // disconnect from world gravity so we can apply buoyancy
1019 d.BodySetGravityMode(Body, false);
1020
1021 m_interpenetrationcount = 0;
1022 m_collisionscore = 0;
1023 m_disabled = false;
1024
1025 if (m_type != Vehicle.TYPE_NONE)
1026 {
1027 Enable(Body, _parent_scene);
1028 }
1029
1030 _parent_scene.addActivePrim(this);
1031 }
1032 }
1033
1034 #region Mass Calculation
1035
1036 private float CalculateMass()
1037 {
1038 float volume = _size.X * _size.Y * _size.Z; // default
1039 float tmp;
1040
1041 float returnMass = 0;
1042 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1043 float hollowVolume = hollowAmount * hollowAmount;
1044
1045 switch (_pbs.ProfileShape)
1046 {
1047 case ProfileShape.Square:
1048 // default box
1049
1050 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1051 {
1052 if (hollowAmount > 0.0)
1053 {
1054 switch (_pbs.HollowShape)
1055 {
1056 case HollowShape.Square:
1057 case HollowShape.Same:
1058 break;
1059
1060 case HollowShape.Circle:
1061
1062 hollowVolume *= 0.78539816339f;
1063 break;
1064
1065 case HollowShape.Triangle:
1066
1067 hollowVolume *= (0.5f * .5f);
1068 break;
1069
1070 default:
1071 hollowVolume = 0;
1072 break;
1073 }
1074 volume *= (1.0f - hollowVolume);
1075 }
1076 }
1077
1078 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1079 {
1080 //a tube
1081
1082 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
1083 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
1084 volume -= volume * tmp * tmp;
1085
1086 if (hollowAmount > 0.0)
1087 {
1088 hollowVolume *= hollowAmount;
1089
1090 switch (_pbs.HollowShape)
1091 {
1092 case HollowShape.Square:
1093 case HollowShape.Same:
1094 break;
1095
1096 case HollowShape.Circle:
1097 hollowVolume *= 0.78539816339f; ;
1098 break;
1099
1100 case HollowShape.Triangle:
1101 hollowVolume *= 0.5f * 0.5f;
1102 break;
1103 default:
1104 hollowVolume = 0;
1105 break;
1106 }
1107 volume *= (1.0f - hollowVolume);
1108 }
1109 }
1110
1111 break;
1112
1113 case ProfileShape.Circle:
1114
1115 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1116 {
1117 volume *= 0.78539816339f; // elipse base
1118
1119 if (hollowAmount > 0.0)
1120 {
1121 switch (_pbs.HollowShape)
1122 {
1123 case HollowShape.Same:
1124 case HollowShape.Circle:
1125 break;
1126
1127 case HollowShape.Square:
1128 hollowVolume *= 0.5f * 2.5984480504799f;
1129 break;
1130
1131 case HollowShape.Triangle:
1132 hollowVolume *= .5f * 1.27323954473516f;
1133 break;
1134
1135 default:
1136 hollowVolume = 0;
1137 break;
1138 }
1139 volume *= (1.0f - hollowVolume);
1140 }
1141 }
1142
1143 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1144 {
1145 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
1146 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1147 volume *= (1.0f - tmp * tmp);
1148
1149 if (hollowAmount > 0.0)
1150 {
1151
1152 // calculate the hollow volume by it's shape compared to the prim shape
1153 hollowVolume *= hollowAmount;
1154
1155 switch (_pbs.HollowShape)
1156 {
1157 case HollowShape.Same:
1158 case HollowShape.Circle:
1159 break;
1160
1161 case HollowShape.Square:
1162 hollowVolume *= 0.5f * 2.5984480504799f;
1163 break;
1164
1165 case HollowShape.Triangle:
1166 hollowVolume *= .5f * 1.27323954473516f;
1167 break;
1168
1169 default:
1170 hollowVolume = 0;
1171 break;
1172 }
1173 volume *= (1.0f - hollowVolume);
1174 }
1175 }
1176 break;
1177
1178 case ProfileShape.HalfCircle:
1179 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1180 {
1181 volume *= 0.52359877559829887307710723054658f;
1182 }
1183 break;
1184
1185 case ProfileShape.EquilateralTriangle:
1186
1187 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1188 {
1189 volume *= 0.32475953f;
1190
1191 if (hollowAmount > 0.0)
1192 {
1193
1194 // calculate the hollow volume by it's shape compared to the prim shape
1195 switch (_pbs.HollowShape)
1196 {
1197 case HollowShape.Same:
1198 case HollowShape.Triangle:
1199 hollowVolume *= .25f;
1200 break;
1201
1202 case HollowShape.Square:
1203 hollowVolume *= 0.499849f * 3.07920140172638f;
1204 break;
1205
1206 case HollowShape.Circle:
1207 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1208 // Cyllinder hollow volume calculation
1209
1210 hollowVolume *= 0.1963495f * 3.07920140172638f;
1211 break;
1212
1213 default:
1214 hollowVolume = 0;
1215 break;
1216 }
1217 volume *= (1.0f - hollowVolume);
1218 }
1219 }
1220 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1221 {
1222 volume *= 0.32475953f;
1223 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1224 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1225 volume *= (1.0f - tmp * tmp);
1226
1227 if (hollowAmount > 0.0)
1228 {
1229
1230 hollowVolume *= hollowAmount;
1231
1232 switch (_pbs.HollowShape)
1233 {
1234 case HollowShape.Same:
1235 case HollowShape.Triangle:
1236 hollowVolume *= .25f;
1237 break;
1238
1239 case HollowShape.Square:
1240 hollowVolume *= 0.499849f * 3.07920140172638f;
1241 break;
1242
1243 case HollowShape.Circle:
1244
1245 hollowVolume *= 0.1963495f * 3.07920140172638f;
1246 break;
1247
1248 default:
1249 hollowVolume = 0;
1250 break;
1251 }
1252 volume *= (1.0f - hollowVolume);
1253 }
1254 }
1255 break;
1256
1257 default:
1258 break;
1259 }
1260
1261
1262
1263 float taperX1;
1264 float taperY1;
1265 float taperX;
1266 float taperY;
1267 float pathBegin;
1268 float pathEnd;
1269 float profileBegin;
1270 float profileEnd;
1271
1272 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1273 {
1274 taperX1 = _pbs.PathScaleX * 0.01f;
1275 if (taperX1 > 1.0f)
1276 taperX1 = 2.0f - taperX1;
1277 taperX = 1.0f - taperX1;
1278
1279 taperY1 = _pbs.PathScaleY * 0.01f;
1280 if (taperY1 > 1.0f)
1281 taperY1 = 2.0f - taperY1;
1282 taperY = 1.0f - taperY1;
1283 }
1284 else
1285 {
1286 taperX = _pbs.PathTaperX * 0.01f;
1287 if (taperX < 0.0f)
1288 taperX = -taperX;
1289 taperX1 = 1.0f - taperX;
1290
1291 taperY = _pbs.PathTaperY * 0.01f;
1292 if (taperY < 0.0f)
1293 taperY = -taperY;
1294 taperY1 = 1.0f - taperY;
1295
1296 }
1297
1298
1299 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1300
1301 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1302 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1303 volume *= (pathEnd - pathBegin);
1304
1305 // this is crude aproximation
1306 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1307 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1308 volume *= (profileEnd - profileBegin);
1309
1310 returnMass = m_density * volume;
1311
1312 if (returnMass <= 0)
1313 returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1314 // else if (returnMass > _parent_scene.maximumMassObject)
1315 // returnMass = _parent_scene.maximumMassObject;
1316
1317
1318
1319
1320 // Recursively calculate mass
1321 bool HasChildPrim = false;
1322 lock (childrenPrim)
1323 {
1324 if (childrenPrim.Count > 0)
1325 {
1326 HasChildPrim = true;
1327 }
1328
1329 }
1330 if (HasChildPrim)
1331 {
1332 OdePrim[] childPrimArr = new OdePrim[0];
1333
1334 lock (childrenPrim)
1335 childPrimArr = childrenPrim.ToArray();
1336
1337 for (int i = 0; i < childPrimArr.Length; i++)
1338 {
1339 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
1340 returnMass += childPrimArr[i].CalculateMass();
1341 // failsafe, this shouldn't happen but with OpenSim, you never know :)
1342 if (i > 256)
1343 break;
1344 }
1345 }
1346 if (returnMass > _parent_scene.maximumMassObject)
1347 returnMass = _parent_scene.maximumMassObject;
1348 return returnMass;
1349 }// end CalculateMass
1350
1351 #endregion
1352
1353 public void setMass()
1354 {
1355 if (Body != (IntPtr)0)
1356 {
1357 float newmass = CalculateMass();
1358
1359 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
1360
1361 d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
1362 d.BodySetMass(Body, ref pMass);
1363 }
1364 }
1365
1366 public void disableBody()
1367 {
1368 //this kills the body so things like 'mesh' can re-create it.
1369 lock (this)
1370 {
1371 if (!childPrim)
1372 {
1373 if (Body != IntPtr.Zero)
1374 {
1375 _parent_scene.remActivePrim(this);
1376 m_collisionCategories &= ~CollisionCategories.Body;
1377 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1378
1379 if (prim_geom != IntPtr.Zero)
1380 {
1381 if (m_NoColide)
1382 {
1383 d.GeomSetCategoryBits(prim_geom, 0);
1384 d.GeomSetCollideBits(prim_geom, 0);
1385 d.GeomDisable(prim_geom);
1386 }
1387 else
1388 {
1389 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1390 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1391 }
1392 }
1393
1394 d.BodyDestroy(Body);
1395 lock (childrenPrim)
1396 {
1397 if (childrenPrim.Count > 0)
1398 {
1399 foreach (OdePrim prm in childrenPrim)
1400 {
1401 if (prm.m_NoColide && prm.prim_geom != IntPtr.Zero)
1402 {
1403 d.GeomSetCategoryBits(prm.prim_geom, 0);
1404 d.GeomSetCollideBits(prm.prim_geom, 0);
1405 d.GeomDisable(prm.prim_geom);
1406 }
1407
1408 _parent_scene.remActivePrim(prm);
1409 prm.Body = IntPtr.Zero;
1410 }
1411 }
1412 }
1413 Body = IntPtr.Zero;
1414 }
1415 }
1416 else
1417 {
1418 _parent_scene.remActivePrim(this);
1419
1420 m_collisionCategories &= ~CollisionCategories.Body;
1421 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1422
1423 if (prim_geom != IntPtr.Zero)
1424 {
1425 if (m_NoColide)
1426 {
1427 d.GeomSetCategoryBits(prim_geom, 0);
1428 d.GeomSetCollideBits(prim_geom, 0);
1429 d.GeomDisable(prim_geom);
1430 }
1431 else
1432 {
1433 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1434 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1435 }
1436 }
1437
1438 Body = IntPtr.Zero;
1439 }
1440 }
1441 m_disabled = true;
1442 m_collisionscore = 0;
1443 }
1444
1445// private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
1446
1447 public bool setMesh(OdeScene parent_scene, IMesh mesh)
1448 {
1449 //Kill Body so that mesh can re-make the geom
1450 if (IsPhysical && Body != IntPtr.Zero)
1451 {
1452 if (childPrim)
1453 {
1454 if (_parent != null)
1455 {
1456 OdePrim parent = (OdePrim)_parent;
1457 parent.ChildDelink(this);
1458 }
1459 }
1460 else
1461 {
1462 disableBody();
1463 }
1464 }
1465
1466 IntPtr vertices, indices;
1467 int vertexCount, indexCount;
1468 int vertexStride, triStride;
1469 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1470 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1471
1472 // warning this destroys the mesh for eventual future use. Only pinned float arrays stay valid
1473 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
1474
1475 if (vertexCount == 0 || indexCount == 0)
1476 {
1477 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1478 return false;
1479 }
1480
1481 IntPtr geo = IntPtr.Zero;
1482 try
1483 {
1484 _triMeshData = d.GeomTriMeshDataCreate();
1485 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1486 d.GeomTriMeshDataPreprocess(_triMeshData);
1487
1488 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1489
1490 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1491 }
1492 catch (Exception e)
1493 {
1494 m_log.ErrorFormat("[PHYSICS]: Create trimesh failed on prim {0} : {1}",Name,e.Message);
1495
1496 if (_triMeshData != IntPtr.Zero)
1497 {
1498 d.GeomTriMeshDataDestroy(_triMeshData);
1499 _triMeshData = IntPtr.Zero;
1500 }
1501 return false;
1502 }
1503
1504 SetGeom(geo);
1505
1506 return true;
1507 }
1508
1509 public void ProcessTaints(float timestep) //=============================================================================
1510 {
1511 if (m_taintadd)
1512 {
1513 changeadd(timestep);
1514 }
1515
1516 if (m_taintremove)
1517 return;
1518
1519 if (prim_geom != IntPtr.Zero)
1520 {
1521 if (!_position.ApproxEquals(m_taintposition, 0f))
1522 {
1523 changemove(timestep);
1524 }
1525 if (m_taintrot != _orientation)
1526 {
1527 if (childPrim && IsPhysical) // For physical child prim...
1528 {
1529 rotate(timestep);
1530 // KF: ODE will also rotate the parent prim!
1531 // so rotate the root back to where it was
1532 OdePrim parent = (OdePrim)_parent;
1533 parent.rotate(timestep);
1534 }
1535 else
1536 {
1537 //Just rotate the prim
1538 rotate(timestep);
1539 }
1540 }
1541 //
1542 if (m_taintphantom != m_isphantom )
1543 {
1544 changePhantomStatus();
1545 }//
1546
1547 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
1548 {
1549 changePhysicsStatus(timestep);
1550 }//
1551
1552
1553 if (!_size.ApproxEquals(m_taintsize, 0f))
1554 changesize(timestep);
1555 //
1556
1557 if(m_taintshapetype != m_shapetype)
1558 {
1559 m_shapetype = m_taintshapetype;
1560 changeshape(timestep);
1561 }
1562
1563 if (m_taintshape)
1564 changeshape(timestep);
1565 //
1566
1567 if (m_taintforce)
1568 changeAddForce(timestep);
1569
1570 if (m_taintaddangularforce)
1571 changeAddAngularForce(timestep);
1572
1573 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
1574 changeSetTorque(timestep);
1575
1576 if (m_taintdisable)
1577 changedisable(timestep);
1578
1579 if (m_taintselected != m_isSelected)
1580 changeSelectedStatus();
1581
1582 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
1583 changevelocity(timestep);
1584
1585 if (m_taintparent != _parent)
1586 changelink(timestep);
1587
1588 if (m_taintCollidesWater != m_collidesWater)
1589 changefloatonwater(timestep);
1590
1591 if (m_taintvehicledata != null)
1592 DoSetVehicle();
1593
1594 /* obsolete
1595 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
1596 changeAngularLock(timestep);
1597 */
1598 }
1599
1600 else
1601 {
1602 m_log.Error("[PHYSICS]: prim {0} at <{1},{2},{3}> as invalid geom");
1603
1604 // not sure this will not flame...
1605 m_taintremove = true;
1606 _parent_scene.AddPhysicsActorTaint(this);
1607 }
1608
1609 }
1610
1611 private void changelink(float timestep)
1612 {
1613 // If the newly set parent is not null
1614 // create link
1615 if (_parent == null && m_taintparent != null)
1616 {
1617 if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
1618 {
1619 OdePrim obj = (OdePrim)m_taintparent;
1620 obj.ParentPrim(this);
1621 }
1622 }
1623 // If the newly set parent is null
1624 // destroy link
1625 else if (_parent != null && m_taintparent == null)
1626 {
1627 if (_parent is OdePrim)
1628 {
1629 OdePrim obj = (OdePrim)_parent;
1630 obj.ChildDelink(this);
1631 childPrim = false;
1632 }
1633 }
1634
1635 _parent = m_taintparent;
1636 m_taintPhysics = m_isphysical;
1637 }
1638
1639 // I'm the parent
1640 // prim is the child
1641 public void ParentPrim(OdePrim prim)
1642 {
1643 if (this.m_localID != prim.m_localID)
1644 {
1645 if (Body == IntPtr.Zero)
1646 {
1647 Body = d.BodyCreate(_parent_scene.world);
1648 // disconnect from world gravity so we can apply buoyancy
1649 d.BodySetGravityMode(Body, false);
1650
1651 setMass();
1652 }
1653 if (Body != IntPtr.Zero)
1654 {
1655 lock (childrenPrim)
1656 {
1657 if (!childrenPrim.Contains(prim))
1658 {
1659 childrenPrim.Add(prim);
1660
1661 foreach (OdePrim prm in childrenPrim)
1662 {
1663 d.Mass m2;
1664 d.MassSetZero(out m2);
1665 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1666
1667
1668 d.Quaternion quat = new d.Quaternion();
1669 quat.W = prm._orientation.W;
1670 quat.X = prm._orientation.X;
1671 quat.Y = prm._orientation.Y;
1672 quat.Z = prm._orientation.Z;
1673
1674 d.Matrix3 mat = new d.Matrix3();
1675 d.RfromQ(out mat, ref quat);
1676 d.MassRotate(ref m2, ref mat);
1677 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1678 d.MassAdd(ref pMass, ref m2);
1679 }
1680 foreach (OdePrim prm in childrenPrim)
1681 {
1682 if (m_isphantom && !prm.m_isVolumeDetect)
1683 {
1684 prm.m_collisionCategories = 0;
1685 prm.m_collisionFlags = CollisionCategories.Land;
1686 }
1687 else
1688 {
1689 prm.m_collisionCategories |= CollisionCategories.Body;
1690 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1691 }
1692 if (prm.prim_geom == IntPtr.Zero)
1693 {
1694 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
1695 continue;
1696 }
1697
1698 if (prm.m_NoColide)
1699 {
1700 d.GeomSetCategoryBits(prm.prim_geom, 0);
1701 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1702 }
1703 else
1704 {
1705 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1706 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1707 }
1708
1709 d.Quaternion quat = new d.Quaternion();
1710 quat.W = prm._orientation.W;
1711 quat.X = prm._orientation.X;
1712 quat.Y = prm._orientation.Y;
1713 quat.Z = prm._orientation.Z;
1714
1715 d.Matrix3 mat = new d.Matrix3();
1716 d.RfromQ(out mat, ref quat);
1717 if (Body != IntPtr.Zero)
1718 {
1719 d.GeomSetBody(prm.prim_geom, Body);
1720 prm.childPrim = true;
1721 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z);
1722 //d.GeomSetOffsetPosition(prim.prim_geom,
1723 // (Position.X - prm.Position.X) - pMass.c.X,
1724 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1725 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1726 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
1727 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
1728 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1729 d.BodySetMass(Body, ref pMass);
1730 }
1731 else
1732 {
1733 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
1734 }
1735
1736 prm.m_interpenetrationcount = 0;
1737 prm.m_collisionscore = 0;
1738 prm.m_disabled = false;
1739
1740 prm.Body = Body;
1741
1742 _parent_scene.addActivePrim(prm);
1743 }
1744
1745 if (m_isphantom && !m_isVolumeDetect)
1746 {
1747 m_collisionCategories = 0;
1748 m_collisionFlags = CollisionCategories.Land;
1749 }
1750 else
1751 {
1752 m_collisionCategories |= CollisionCategories.Body;
1753 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1754 }
1755
1756 if (m_NoColide)
1757 {
1758 d.GeomSetCategoryBits(prim_geom, 0);
1759 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1760 }
1761 else
1762 {
1763 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1764 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1765 }
1766
1767 d.Quaternion quat2 = new d.Quaternion();
1768 quat2.W = _orientation.W;
1769 quat2.X = _orientation.X;
1770 quat2.Y = _orientation.Y;
1771 quat2.Z = _orientation.Z;
1772
1773 d.Matrix3 mat2 = new d.Matrix3();
1774 d.RfromQ(out mat2, ref quat2);
1775 d.GeomSetBody(prim_geom, Body);
1776 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1777 //d.GeomSetOffsetPosition(prim.prim_geom,
1778 // (Position.X - prm.Position.X) - pMass.c.X,
1779 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1780 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1781 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1782 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1783 d.BodySetMass(Body, ref pMass);
1784
1785 d.BodySetAutoDisableFlag(Body, true);
1786 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1787
1788 m_interpenetrationcount = 0;
1789 m_collisionscore = 0;
1790 m_disabled = false;
1791
1792 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1793 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
1794
1795 _parent_scene.addActivePrim(this);
1796 }
1797 }
1798 }
1799 }
1800 }
1801
1802 private void ChildSetGeom(OdePrim odePrim)
1803 {
1804 lock (childrenPrim)
1805 {
1806 foreach (OdePrim prm in childrenPrim)
1807 {
1808 prm.disableBody();
1809 }
1810 }
1811 disableBody();
1812
1813 if (Body != IntPtr.Zero)
1814 {
1815 _parent_scene.remActivePrim(this);
1816 }
1817
1818 lock (childrenPrim)
1819 {
1820 foreach (OdePrim prm in childrenPrim)
1821 {
1822 ParentPrim(prm);
1823 }
1824 }
1825 }
1826
1827 private void ChildDelink(OdePrim odePrim)
1828 {
1829 // Okay, we have a delinked child.. need to rebuild the body.
1830 lock (childrenPrim)
1831 {
1832 foreach (OdePrim prm in childrenPrim)
1833 {
1834 prm.childPrim = true;
1835 prm.disableBody();
1836 }
1837 }
1838 disableBody();
1839
1840 lock (childrenPrim)
1841 {
1842 childrenPrim.Remove(odePrim);
1843 }
1844
1845 if (Body != IntPtr.Zero)
1846 {
1847 _parent_scene.remActivePrim(this);
1848 }
1849
1850 lock (childrenPrim)
1851 {
1852 foreach (OdePrim prm in childrenPrim)
1853 {
1854 ParentPrim(prm);
1855 }
1856 }
1857 }
1858
1859 private void changePhantomStatus()
1860 {
1861 m_taintphantom = m_isphantom;
1862 changeSelectedStatus();
1863 }
1864
1865/* not in use
1866 private void SetCollider()
1867 {
1868 SetCollider(m_isSelected, m_isphysical, m_isphantom, m_isSelected);
1869 }
1870
1871 private void SetCollider(bool sel, bool phys, bool phan, bool vdtc)
1872 {
1873 if (sel)
1874 {
1875 m_collisionCategories = CollisionCategories.Selected;
1876 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
1877 }
1878 else
1879 {
1880 if (phan && !vdtc)
1881 {
1882 m_collisionCategories = 0;
1883 if (phys)
1884 m_collisionFlags = CollisionCategories.Land;
1885 else
1886 m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
1887 }
1888 else
1889 {
1890 m_collisionCategories = CollisionCategories.Geom;
1891 if (phys)
1892 m_collisionCategories |= CollisionCategories.Body;
1893
1894 m_collisionFlags = m_default_collisionFlags;
1895
1896 if (m_collidesLand)
1897 m_collisionFlags |= CollisionCategories.Land;
1898 if (m_collidesWater)
1899 m_collisionFlags |= CollisionCategories.Water;
1900 }
1901 }
1902
1903 if (prim_geom != IntPtr.Zero)
1904 {
1905 if (m_NoColide)
1906 {
1907 d.GeomSetCategoryBits(prim_geom, 0);
1908 if (phys)
1909 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1910 else
1911 {
1912 d.GeomSetCollideBits(prim_geom, 0);
1913 d.GeomDisable(prim_geom);
1914 }
1915 }
1916 else
1917 {
1918 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1919 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1920 }
1921 }
1922 }
1923*/
1924
1925 private void changeSelectedStatus()
1926 {
1927 if (m_taintselected)
1928 {
1929 m_collisionCategories = CollisionCategories.Selected;
1930 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
1931
1932 // We do the body disable soft twice because 'in theory' a collision could have happened
1933 // in between the disabling and the collision properties setting
1934 // which would wake the physical body up from a soft disabling and potentially cause it to fall
1935 // through the ground.
1936
1937 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
1938 // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
1939 // so that causes the selected part to wake up and continue moving.
1940
1941 // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
1942 // assembly will stop simulating during the selection, because of the lack of atomicity
1943 // of select operations (their processing could be interrupted by a thread switch, causing
1944 // simulation to continue before all of the selected object notifications trickle down to
1945 // the physics engine).
1946
1947 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
1948 // selected and disabled. then, due to a thread switch, the selection processing is
1949 // interrupted and the physics engine continues to simulate, so the last 50 items, whose
1950 // selection was not yet processed, continues to simulate. this wakes up ALL of the
1951 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
1952 // up, start simulating again, which in turn wakes up the last 50.
1953
1954 if (m_isphysical)
1955 {
1956 disableBodySoft();
1957 }
1958
1959 if (prim_geom != IntPtr.Zero)
1960 {
1961 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1962 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1963 if (m_NoColide)
1964 d.GeomDisable(prim_geom);
1965 }
1966
1967 if (m_isphysical)
1968 {
1969 disableBodySoft();
1970 }
1971 if (Body != IntPtr.Zero)
1972 {
1973 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1974 d.BodySetForce(Body, 0f, 0f, 0f);
1975 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
1976 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
1977 }
1978 }
1979 else
1980 {
1981 if (m_isphantom && !m_isVolumeDetect)
1982 {
1983 m_collisionCategories = 0;
1984 if (m_isphysical)
1985 m_collisionFlags = CollisionCategories.Land;
1986 else
1987 m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
1988 }
1989 else
1990 {
1991 m_collisionCategories = CollisionCategories.Geom;
1992 if (m_isphysical)
1993 m_collisionCategories |= CollisionCategories.Body;
1994
1995 m_collisionFlags = m_default_collisionFlags;
1996
1997 if (m_collidesLand)
1998 m_collisionFlags |= CollisionCategories.Land;
1999 if (m_collidesWater)
2000 m_collisionFlags |= CollisionCategories.Water;
2001 }
2002
2003 if (prim_geom != IntPtr.Zero)
2004 {
2005 if (m_NoColide)
2006 {
2007 d.GeomSetCategoryBits(prim_geom, 0);
2008 if (m_isphysical)
2009 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2010 else
2011 {
2012 d.GeomSetCollideBits(prim_geom, 0);
2013 d.GeomDisable(prim_geom);
2014 }
2015 }
2016 else
2017 {
2018 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2019 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2020 }
2021 }
2022 if (Body != IntPtr.Zero)
2023 {
2024 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2025 d.BodySetForce(Body, 0f, 0f, 0f);
2026 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
2027 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
2028 }
2029
2030 if (m_isphysical)
2031 {
2032 if (Body != IntPtr.Zero)
2033 {
2034 enableBodySoft();
2035 }
2036 }
2037 }
2038
2039 resetCollisionAccounting();
2040 m_isSelected = m_taintselected;
2041 }//end changeSelectedStatus
2042
2043 public void ResetTaints()
2044 {
2045 m_taintposition = _position;
2046 m_taintrot = _orientation;
2047 m_taintPhysics = m_isphysical;
2048 m_taintselected = m_isSelected;
2049 m_taintsize = _size;
2050 m_taintshape = false;
2051 m_taintforce = false;
2052 m_taintdisable = false;
2053 m_taintVelocity = Vector3.Zero;
2054 }
2055
2056 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
2057 {
2058 bool gottrimesh = false;
2059
2060 m_NoColide = false; // assume all will go well
2061
2062 if (_triMeshData != IntPtr.Zero)
2063 {
2064 d.GeomTriMeshDataDestroy(_triMeshData);
2065 _triMeshData = IntPtr.Zero;
2066 }
2067
2068 if (_mesh != null)
2069 {
2070 gottrimesh = setMesh(_parent_scene, _mesh);
2071 if (!gottrimesh)
2072 {
2073 // getting a mesh failed,
2074 // lets go on having a basic box or sphere, with prim size but not coliding
2075 // physical colides with land, non with nothing
2076
2077 m_NoColide = true;
2078 }
2079 }
2080
2081 if (!gottrimesh)
2082 { // we will have a basic box or sphere
2083 IntPtr geo = IntPtr.Zero;
2084
2085 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
2086 && _size.X == _size.Y && _size.X == _size.Z)
2087 {
2088 // its a sphere
2089 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2090 try
2091 {
2092 geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);
2093 }
2094 catch (Exception e)
2095 {
2096 m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
2097 geo = IntPtr.Zero;
2098 ode.dunlock(_parent_scene.world);
2099 }
2100 }
2101 else // make it a box
2102 {
2103 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2104 try
2105 {
2106 geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
2107 }
2108 catch (Exception e)
2109 {
2110 m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
2111 geo = IntPtr.Zero;
2112 ode.dunlock(_parent_scene.world);
2113 }
2114 }
2115
2116 if (geo == IntPtr.Zero) // if this happens it must be fixed
2117 {
2118 // if it does lets stop what we can
2119 // not sure this will not flame...
2120
2121 m_taintremove = true;
2122 _parent_scene.AddPhysicsActorTaint(this);
2123 return;
2124 }
2125
2126 SetGeom(geo); // this processes the m_NoColide
2127 }
2128 }
2129
2130 public void changeadd(float timestep)
2131 {
2132 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2133 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
2134
2135 if (targetspace == IntPtr.Zero)
2136 targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2137
2138 m_targetSpace = targetspace;
2139
2140 if (_mesh == null) // && m_meshfailed == false)
2141 {
2142 if (_parent_scene.needsMeshing(_pbs))
2143 {
2144 bool convex;
2145 if (m_shapetype == 2)
2146 convex = true;
2147 else
2148 convex = false;
2149 try
2150 {
2151 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex);
2152 }
2153 catch
2154 {
2155 //Don't continuously try to mesh prims when meshing has failed
2156 m_meshfailed = true;
2157 _mesh = null;
2158 m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2159 }
2160 }
2161 }
2162
2163 lock (_parent_scene.OdeLock)
2164 {
2165 CreateGeom(m_targetSpace, _mesh);
2166
2167 if (prim_geom != IntPtr.Zero)
2168 {
2169 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2170 d.Quaternion myrot = new d.Quaternion();
2171 myrot.X = _orientation.X;
2172 myrot.Y = _orientation.Y;
2173 myrot.Z = _orientation.Z;
2174 myrot.W = _orientation.W;
2175 d.GeomSetQuaternion(prim_geom, ref myrot);
2176 }
2177
2178 if (m_isphysical && Body == IntPtr.Zero)
2179 {
2180 enableBody();
2181 }
2182 }
2183
2184 changeSelectedStatus();
2185
2186 m_taintadd = false;
2187 }
2188
2189 public void changemove(float timestep)
2190 {
2191 if (m_isphysical)
2192 {
2193 // if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
2194 if (!m_taintremove && !childPrim)
2195 {
2196 if (Body == IntPtr.Zero)
2197 enableBody();
2198 //Prim auto disable after 20 frames,
2199 //if you move it, re-enable the prim manually.
2200 if (_parent != null)
2201 {
2202 if (m_linkJoint != IntPtr.Zero)
2203 {
2204 d.JointDestroy(m_linkJoint);
2205 m_linkJoint = IntPtr.Zero;
2206 }
2207 }
2208 if (Body != IntPtr.Zero)
2209 {
2210 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
2211
2212 if (_parent != null)
2213 {
2214 OdePrim odParent = (OdePrim)_parent;
2215 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
2216 {
2217 // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
2218 Console.WriteLine("ODEPrim JointCreateFixed !!!");
2219 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
2220 d.JointAttach(m_linkJoint, Body, odParent.Body);
2221 d.JointSetFixed(m_linkJoint);
2222 }
2223 }
2224 d.BodyEnable(Body);
2225 if (m_type != Vehicle.TYPE_NONE)
2226 {
2227 Enable(Body, _parent_scene);
2228 }
2229 }
2230 else
2231 {
2232 m_log.Warn("[PHYSICS]: Body Still null after enableBody(). This is a crash scenario.");
2233 }
2234 }
2235 //else
2236 // {
2237 //m_log.Debug("[BUG]: race!");
2238 //}
2239 }
2240 else
2241 {
2242 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2243 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2244 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2245
2246 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
2247 m_targetSpace = tempspace;
2248
2249 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2250 if (prim_geom != IntPtr.Zero)
2251 {
2252 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2253
2254 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2255 d.SpaceAdd(m_targetSpace, prim_geom);
2256 }
2257 }
2258
2259 changeSelectedStatus();
2260
2261 resetCollisionAccounting();
2262 m_taintposition = _position;
2263 }
2264
2265 public void rotate(float timestep)
2266 {
2267 d.Quaternion myrot = new d.Quaternion();
2268 myrot.X = _orientation.X;
2269 myrot.Y = _orientation.Y;
2270 myrot.Z = _orientation.Z;
2271 myrot.W = _orientation.W;
2272 if (Body != IntPtr.Zero)
2273 {
2274 // KF: If this is a root prim do BodySet
2275 d.BodySetQuaternion(Body, ref myrot);
2276 }
2277 else
2278 {
2279 // daughter prim, do Geom set
2280 d.GeomSetQuaternion(prim_geom, ref myrot);
2281 }
2282
2283 resetCollisionAccounting();
2284 m_taintrot = _orientation;
2285 }
2286
2287 private void resetCollisionAccounting()
2288 {
2289 m_collisionscore = 0;
2290 m_interpenetrationcount = 0;
2291 m_disabled = false;
2292 }
2293
2294 public void changedisable(float timestep)
2295 {
2296 m_disabled = true;
2297 if (Body != IntPtr.Zero)
2298 {
2299 d.BodyDisable(Body);
2300 Body = IntPtr.Zero;
2301 }
2302
2303 m_taintdisable = false;
2304 }
2305
2306 public void changePhysicsStatus(float timestep)
2307 {
2308 if (m_isphysical == true)
2309 {
2310 if (Body == IntPtr.Zero)
2311 {
2312 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2313 {
2314 changeshape(2f);
2315 }
2316 else
2317 {
2318 enableBody();
2319 }
2320 }
2321 }
2322 else
2323 {
2324 if (Body != IntPtr.Zero)
2325 {
2326 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2327 {
2328 _mesh = null;
2329 changeadd(2f);
2330 }
2331 if (childPrim)
2332 {
2333 if (_parent != null)
2334 {
2335 OdePrim parent = (OdePrim)_parent;
2336 parent.ChildDelink(this);
2337 }
2338 }
2339 else
2340 {
2341 disableBody();
2342 }
2343 }
2344 }
2345
2346 changeSelectedStatus();
2347
2348 resetCollisionAccounting();
2349 m_taintPhysics = m_isphysical;
2350 }
2351
2352 public void changesize(float timestamp)
2353 {
2354
2355 string oldname = _parent_scene.geom_name_map[prim_geom];
2356
2357 if (_size.X <= 0) _size.X = 0.01f;
2358 if (_size.Y <= 0) _size.Y = 0.01f;
2359 if (_size.Z <= 0) _size.Z = 0.01f;
2360
2361 // Cleanup of old prim geometry
2362 if (_mesh != null)
2363 {
2364 // Cleanup meshing here
2365 }
2366 //kill body to rebuild
2367 if (IsPhysical && Body != IntPtr.Zero)
2368 {
2369 if (childPrim)
2370 {
2371 if (_parent != null)
2372 {
2373 OdePrim parent = (OdePrim)_parent;
2374 parent.ChildDelink(this);
2375 }
2376 }
2377 else
2378 {
2379 disableBody();
2380 }
2381 }
2382 if (d.SpaceQuery(m_targetSpace, prim_geom))
2383 {
2384 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2385 d.SpaceRemove(m_targetSpace, prim_geom);
2386 }
2387 // we don't need to do space calculation because the client sends a position update also.
2388
2389 // Construction of new prim
2390 if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
2391 {
2392 float meshlod = _parent_scene.meshSculptLOD;
2393
2394 if (IsPhysical)
2395 meshlod = _parent_scene.MeshSculptphysicalLOD;
2396 // Don't need to re-enable body.. it's done in SetMesh
2397
2398 IMesh mesh = null;
2399
2400 try
2401 {
2402 if (_parent_scene.needsMeshing(_pbs))
2403 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true);
2404 }
2405 catch
2406 {
2407 m_meshfailed = true;
2408 mesh = null;
2409 m_log.WarnFormat("[PHYSICS]: changeSize CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2410 }
2411
2412 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2413 CreateGeom(m_targetSpace, mesh);
2414 }
2415 else
2416 {
2417 _mesh = null;
2418 CreateGeom(m_targetSpace, _mesh);
2419 }
2420
2421 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2422 d.Quaternion myrot = new d.Quaternion();
2423 myrot.X = _orientation.X;
2424 myrot.Y = _orientation.Y;
2425 myrot.Z = _orientation.Z;
2426 myrot.W = _orientation.W;
2427 d.GeomSetQuaternion(prim_geom, ref myrot);
2428
2429 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2430 if (IsPhysical && Body == IntPtr.Zero && !childPrim)
2431 {
2432 // Re creates body on size.
2433 // EnableBody also does setMass()
2434 enableBody();
2435 d.BodyEnable(Body);
2436 }
2437
2438 _parent_scene.geom_name_map[prim_geom] = oldname;
2439
2440 changeSelectedStatus();
2441 if (childPrim)
2442 {
2443 if (_parent is OdePrim)
2444 {
2445 OdePrim parent = (OdePrim)_parent;
2446 parent.ChildSetGeom(this);
2447 }
2448 }
2449 resetCollisionAccounting();
2450 m_taintsize = _size;
2451 }
2452
2453
2454
2455 public void changefloatonwater(float timestep)
2456 {
2457 m_collidesWater = m_taintCollidesWater;
2458
2459 if (prim_geom != IntPtr.Zero)
2460 {
2461 if (m_collidesWater)
2462 {
2463 m_collisionFlags |= CollisionCategories.Water;
2464 }
2465 else
2466 {
2467 m_collisionFlags &= ~CollisionCategories.Water;
2468 }
2469 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2470 }
2471 }
2472
2473 public void changeshape(float timestamp)
2474 {
2475 string oldname = _parent_scene.geom_name_map[prim_geom];
2476
2477 // Cleanup of old prim geometry and Bodies
2478 if (IsPhysical && Body != IntPtr.Zero)
2479 {
2480 if (childPrim)
2481 {
2482 if (_parent != null)
2483 {
2484 OdePrim parent = (OdePrim)_parent;
2485 parent.ChildDelink(this);
2486 }
2487 }
2488 else
2489 {
2490 disableBody();
2491 }
2492 }
2493
2494
2495 // we don't need to do space calculation because the client sends a position update also.
2496 if (_size.X <= 0) _size.X = 0.01f;
2497 if (_size.Y <= 0) _size.Y = 0.01f;
2498 if (_size.Z <= 0) _size.Z = 0.01f;
2499 // Construction of new prim
2500
2501 if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
2502 {
2503 // Don't need to re-enable body.. it's done in SetMesh
2504 float meshlod = _parent_scene.meshSculptLOD;
2505 IMesh mesh;
2506
2507 if (IsPhysical)
2508 meshlod = _parent_scene.MeshSculptphysicalLOD;
2509
2510 bool convex;
2511 if (m_shapetype == 2)
2512 convex = true;
2513 else
2514 convex = false;
2515
2516 try
2517 {
2518 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex);
2519 }
2520 catch
2521 {
2522 mesh = null;
2523 m_meshfailed = true;
2524 m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2525 }
2526
2527 CreateGeom(m_targetSpace, mesh);
2528
2529 // createmesh returns null when it doesn't mesh.
2530 }
2531 else
2532 {
2533 _mesh = null;
2534 CreateGeom(m_targetSpace, null);
2535 }
2536
2537 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2538 d.Quaternion myrot = new d.Quaternion();
2539 //myrot.W = _orientation.w;
2540 myrot.W = _orientation.W;
2541 myrot.X = _orientation.X;
2542 myrot.Y = _orientation.Y;
2543 myrot.Z = _orientation.Z;
2544 d.GeomSetQuaternion(prim_geom, ref myrot);
2545
2546 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2547 if (IsPhysical && Body == IntPtr.Zero)
2548 {
2549 // Re creates body on size.
2550 // EnableBody also does setMass()
2551 enableBody();
2552 if (Body != IntPtr.Zero)
2553 {
2554 d.BodyEnable(Body);
2555 }
2556 }
2557 _parent_scene.geom_name_map[prim_geom] = oldname;
2558
2559 changeSelectedStatus();
2560 if (childPrim)
2561 {
2562 if (_parent is OdePrim)
2563 {
2564 OdePrim parent = (OdePrim)_parent;
2565 parent.ChildSetGeom(this);
2566 }
2567 }
2568 resetCollisionAccounting();
2569 m_taintshape = false;
2570 }
2571
2572 public void changeAddForce(float timestamp)
2573 {
2574 if (!m_isSelected)
2575 {
2576 lock (m_forcelist)
2577 {
2578 //m_log.Info("[PHYSICS]: dequeing forcelist");
2579 if (IsPhysical)
2580 {
2581 Vector3 iforce = Vector3.Zero;
2582 int i = 0;
2583 try
2584 {
2585 for (i = 0; i < m_forcelist.Count; i++)
2586 {
2587
2588 iforce = iforce + (m_forcelist[i] * 100);
2589 }
2590 }
2591 catch (IndexOutOfRangeException)
2592 {
2593 m_forcelist = new List<Vector3>();
2594 m_collisionscore = 0;
2595 m_interpenetrationcount = 0;
2596 m_taintforce = false;
2597 return;
2598 }
2599 catch (ArgumentOutOfRangeException)
2600 {
2601 m_forcelist = new List<Vector3>();
2602 m_collisionscore = 0;
2603 m_interpenetrationcount = 0;
2604 m_taintforce = false;
2605 return;
2606 }
2607 d.BodyEnable(Body);
2608
2609 d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
2610 }
2611 m_forcelist.Clear();
2612 }
2613
2614 m_collisionscore = 0;
2615 m_interpenetrationcount = 0;
2616 }
2617
2618 m_taintforce = false;
2619
2620 }
2621
2622
2623
2624 public void changeSetTorque(float timestamp)
2625 {
2626 if (!m_isSelected)
2627 {
2628 if (IsPhysical && Body != IntPtr.Zero)
2629 {
2630 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2631 }
2632 }
2633
2634 m_taintTorque = Vector3.Zero;
2635 }
2636
2637 public void changeAddAngularForce(float timestamp)
2638 {
2639 if (!m_isSelected)
2640 {
2641 lock (m_angularforcelist)
2642 {
2643 //m_log.Info("[PHYSICS]: dequeing forcelist");
2644 if (IsPhysical)
2645 {
2646 Vector3 iforce = Vector3.Zero;
2647 for (int i = 0; i < m_angularforcelist.Count; i++)
2648 {
2649 iforce = iforce + (m_angularforcelist[i] * 100);
2650 }
2651 d.BodyEnable(Body);
2652 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2653
2654 }
2655 m_angularforcelist.Clear();
2656 }
2657
2658 m_collisionscore = 0;
2659 m_interpenetrationcount = 0;
2660 }
2661
2662 m_taintaddangularforce = false;
2663 }
2664
2665 private void changevelocity(float timestep)
2666 {
2667 if (!m_isSelected)
2668 {
2669 Thread.Sleep(20);
2670 if (IsPhysical)
2671 {
2672 if (Body != IntPtr.Zero)
2673 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2674 }
2675
2676 //resetCollisionAccounting();
2677 }
2678 m_taintVelocity = Vector3.Zero;
2679 }
2680
2681 public void UpdatePositionAndVelocity()
2682 {
2683 return; // moved to the Move () method
2684 }
2685
2686 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
2687 {
2688 obj.I.M00 = pMat[0, 0];
2689 obj.I.M01 = pMat[0, 1];
2690 obj.I.M02 = pMat[0, 2];
2691 obj.I.M10 = pMat[1, 0];
2692 obj.I.M11 = pMat[1, 1];
2693 obj.I.M12 = pMat[1, 2];
2694 obj.I.M20 = pMat[2, 0];
2695 obj.I.M21 = pMat[2, 1];
2696 obj.I.M22 = pMat[2, 2];
2697 return obj;
2698 }
2699
2700 public override void SubscribeEvents(int ms)
2701 {
2702 m_eventsubscription = ms;
2703 _parent_scene.addCollisionEventReporting(this);
2704 }
2705
2706 public override void UnSubscribeEvents()
2707 {
2708 _parent_scene.remCollisionEventReporting(this);
2709 m_eventsubscription = 0;
2710 }
2711
2712 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
2713 {
2714 if (CollisionEventsThisFrame == null)
2715 CollisionEventsThisFrame = new CollisionEventUpdate();
2716 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
2717 }
2718
2719 public void SendCollisions()
2720 {
2721 if (CollisionEventsThisFrame == null)
2722 return;
2723
2724 base.SendCollisionUpdate(CollisionEventsThisFrame);
2725
2726 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
2727 CollisionEventsThisFrame = null;
2728 else
2729 CollisionEventsThisFrame = new CollisionEventUpdate();
2730 }
2731
2732 public override bool SubscribedEvents()
2733 {
2734 if (m_eventsubscription > 0)
2735 return true;
2736 return false;
2737 }
2738
2739 public static Matrix4 Inverse(Matrix4 pMat)
2740 {
2741 if (determinant3x3(pMat) == 0)
2742 {
2743 return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
2744 }
2745
2746
2747
2748 return (Adjoint(pMat) / determinant3x3(pMat));
2749 }
2750
2751 public static Matrix4 Adjoint(Matrix4 pMat)
2752 {
2753 Matrix4 adjointMatrix = new Matrix4();
2754 for (int i = 0; i < 4; i++)
2755 {
2756 for (int j = 0; j < 4; j++)
2757 {
2758 Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
2759 }
2760 }
2761
2762 adjointMatrix = Transpose(adjointMatrix);
2763 return adjointMatrix;
2764 }
2765
2766 public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
2767 {
2768 Matrix4 minor = new Matrix4();
2769 int m = 0, n = 0;
2770 for (int i = 0; i < 4; i++)
2771 {
2772 if (i == iRow)
2773 continue;
2774 n = 0;
2775 for (int j = 0; j < 4; j++)
2776 {
2777 if (j == iCol)
2778 continue;
2779 Matrix4SetValue(ref minor, m, n, matrix[i, j]);
2780 n++;
2781 }
2782 m++;
2783 }
2784 return minor;
2785 }
2786
2787 public static Matrix4 Transpose(Matrix4 pMat)
2788 {
2789 Matrix4 transposeMatrix = new Matrix4();
2790 for (int i = 0; i < 4; i++)
2791 for (int j = 0; j < 4; j++)
2792 Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
2793 return transposeMatrix;
2794 }
2795
2796 public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
2797 {
2798 switch (r)
2799 {
2800 case 0:
2801 switch (c)
2802 {
2803 case 0:
2804 pMat.M11 = val;
2805 break;
2806 case 1:
2807 pMat.M12 = val;
2808 break;
2809 case 2:
2810 pMat.M13 = val;
2811 break;
2812 case 3:
2813 pMat.M14 = val;
2814 break;
2815 }
2816
2817 break;
2818 case 1:
2819 switch (c)
2820 {
2821 case 0:
2822 pMat.M21 = val;
2823 break;
2824 case 1:
2825 pMat.M22 = val;
2826 break;
2827 case 2:
2828 pMat.M23 = val;
2829 break;
2830 case 3:
2831 pMat.M24 = val;
2832 break;
2833 }
2834
2835 break;
2836 case 2:
2837 switch (c)
2838 {
2839 case 0:
2840 pMat.M31 = val;
2841 break;
2842 case 1:
2843 pMat.M32 = val;
2844 break;
2845 case 2:
2846 pMat.M33 = val;
2847 break;
2848 case 3:
2849 pMat.M34 = val;
2850 break;
2851 }
2852
2853 break;
2854 case 3:
2855 switch (c)
2856 {
2857 case 0:
2858 pMat.M41 = val;
2859 break;
2860 case 1:
2861 pMat.M42 = val;
2862 break;
2863 case 2:
2864 pMat.M43 = val;
2865 break;
2866 case 3:
2867 pMat.M44 = val;
2868 break;
2869 }
2870
2871 break;
2872 }
2873 }
2874 private static float determinant3x3(Matrix4 pMat)
2875 {
2876 float det = 0;
2877 float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2];
2878 float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0];
2879 float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1];
2880 float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2];
2881 float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0];
2882 float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1];
2883
2884 det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
2885 return det;
2886
2887 }
2888
2889 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
2890 {
2891 dst.c.W = src.c.W;
2892 dst.c.X = src.c.X;
2893 dst.c.Y = src.c.Y;
2894 dst.c.Z = src.c.Z;
2895 dst.mass = src.mass;
2896 dst.I.M00 = src.I.M00;
2897 dst.I.M01 = src.I.M01;
2898 dst.I.M02 = src.I.M02;
2899 dst.I.M10 = src.I.M10;
2900 dst.I.M11 = src.I.M11;
2901 dst.I.M12 = src.I.M12;
2902 dst.I.M20 = src.I.M20;
2903 dst.I.M21 = src.I.M21;
2904 dst.I.M22 = src.I.M22;
2905 }
2906
2907 public override void SetMaterial(int pMaterial)
2908 {
2909 m_material = pMaterial;
2910 }
2911
2912 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
2913 {
2914 switch (pParam)
2915 {
2916 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
2917 if (pValue < 0.01f) pValue = 0.01f;
2918 // m_angularDeflectionEfficiency = pValue;
2919 break;
2920 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
2921 if (pValue < 0.1f) pValue = 0.1f;
2922 // m_angularDeflectionTimescale = pValue;
2923 break;
2924 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
2925 if (pValue < 0.3f) pValue = 0.3f;
2926 m_angularMotorDecayTimescale = pValue;
2927 break;
2928 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
2929 if (pValue < 0.3f) pValue = 0.3f;
2930 m_angularMotorTimescale = pValue;
2931 break;
2932 case Vehicle.BANKING_EFFICIENCY:
2933 if (pValue < 0.01f) pValue = 0.01f;
2934 // m_bankingEfficiency = pValue;
2935 break;
2936 case Vehicle.BANKING_MIX:
2937 if (pValue < 0.01f) pValue = 0.01f;
2938 // m_bankingMix = pValue;
2939 break;
2940 case Vehicle.BANKING_TIMESCALE:
2941 if (pValue < 0.01f) pValue = 0.01f;
2942 // m_bankingTimescale = pValue;
2943 break;
2944 case Vehicle.BUOYANCY:
2945 if (pValue < -1f) pValue = -1f;
2946 if (pValue > 1f) pValue = 1f;
2947 m_VehicleBuoyancy = pValue;
2948 break;
2949 // case Vehicle.HOVER_EFFICIENCY:
2950 // if (pValue < 0f) pValue = 0f;
2951 // if (pValue > 1f) pValue = 1f;
2952 // m_VhoverEfficiency = pValue;
2953 // break;
2954 case Vehicle.HOVER_HEIGHT:
2955 m_VhoverHeight = pValue;
2956 break;
2957 case Vehicle.HOVER_TIMESCALE:
2958 if (pValue < 0.1f) pValue = 0.1f;
2959 m_VhoverTimescale = pValue;
2960 break;
2961 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
2962 if (pValue < 0.01f) pValue = 0.01f;
2963 // m_linearDeflectionEfficiency = pValue;
2964 break;
2965 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
2966 if (pValue < 0.01f) pValue = 0.01f;
2967 // m_linearDeflectionTimescale = pValue;
2968 break;
2969 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
2970 if (pValue < 0.3f) pValue = 0.3f;
2971 m_linearMotorDecayTimescale = pValue;
2972 break;
2973 case Vehicle.LINEAR_MOTOR_TIMESCALE:
2974 if (pValue < 0.1f) pValue = 0.1f;
2975 m_linearMotorTimescale = pValue;
2976 break;
2977 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
2978 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
2979 if (pValue > 1.0f) pValue = 1.0f;
2980 m_verticalAttractionEfficiency = pValue;
2981 break;
2982 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
2983 if (pValue < 0.1f) pValue = 0.1f;
2984 m_verticalAttractionTimescale = pValue;
2985 break;
2986
2987 // These are vector properties but the engine lets you use a single float value to
2988 // set all of the components to the same value
2989 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
2990 if (pValue > 30f) pValue = 30f;
2991 if (pValue < 0.1f) pValue = 0.1f;
2992 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
2993 break;
2994 case Vehicle.ANGULAR_MOTOR_DIRECTION:
2995 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
2996 UpdateAngDecay();
2997 break;
2998 case Vehicle.LINEAR_FRICTION_TIMESCALE:
2999 if (pValue < 0.1f) pValue = 0.1f;
3000 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
3001 break;
3002 case Vehicle.LINEAR_MOTOR_DIRECTION:
3003 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
3004 UpdateLinDecay();
3005 break;
3006 case Vehicle.LINEAR_MOTOR_OFFSET:
3007 // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
3008 break;
3009
3010 }
3011
3012 }//end ProcessFloatVehicleParam
3013
3014 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
3015 {
3016 switch (pParam)
3017 {
3018 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
3019 if (pValue.X > 30f) pValue.X = 30f;
3020 if (pValue.X < 0.1f) pValue.X = 0.1f;
3021 if (pValue.Y > 30f) pValue.Y = 30f;
3022 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3023 if (pValue.Z > 30f) pValue.Z = 30f;
3024 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3025 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3026 break;
3027 case Vehicle.ANGULAR_MOTOR_DIRECTION:
3028 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
3029 // Limit requested angular speed to 2 rps= 4 pi rads/sec
3030 if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
3031 if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f;
3032 if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
3033 if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f;
3034 if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
3035 if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f;
3036 UpdateAngDecay();
3037 break;
3038 case Vehicle.LINEAR_FRICTION_TIMESCALE:
3039 if (pValue.X < 0.1f) pValue.X = 0.1f;
3040 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3041 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3042 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3043 break;
3044 case Vehicle.LINEAR_MOTOR_DIRECTION:
3045 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
3046 UpdateLinDecay();
3047 break;
3048 case Vehicle.LINEAR_MOTOR_OFFSET:
3049 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
3050 break;
3051 }
3052
3053 }//end ProcessVectorVehicleParam
3054
3055 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
3056 {
3057 switch (pParam)
3058 {
3059 case Vehicle.REFERENCE_FRAME:
3060 // m_referenceFrame = pValue;
3061 break;
3062 }
3063
3064 }//end ProcessRotationVehicleParam
3065
3066 internal void ProcessVehicleFlags(int pParam, bool remove)
3067 {
3068 if (remove)
3069 {
3070 m_flags &= ~((VehicleFlag)pParam);
3071 }
3072 else
3073 {
3074 m_flags |= (VehicleFlag)pParam;
3075 }
3076 }
3077
3078 internal void ProcessTypeChange(Vehicle pType)
3079 {
3080 // Set Defaults For Type
3081 m_type = pType;
3082 switch (pType)
3083 {
3084 case Vehicle.TYPE_SLED:
3085 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
3086 m_angularFrictionTimescale = new Vector3(30, 30, 30);
3087 // m_lLinMotorVel = Vector3.Zero;
3088 m_linearMotorTimescale = 1000;
3089 m_linearMotorDecayTimescale = 120;
3090 m_angularMotorDirection = Vector3.Zero;
3091 m_angularMotorDVel = Vector3.Zero;
3092 m_angularMotorTimescale = 1000;
3093 m_angularMotorDecayTimescale = 120;
3094 m_VhoverHeight = 0;
3095 // m_VhoverEfficiency = 1;
3096 m_VhoverTimescale = 10;
3097 m_VehicleBuoyancy = 0;
3098 // m_linearDeflectionEfficiency = 1;
3099 // m_linearDeflectionTimescale = 1;
3100 // m_angularDeflectionEfficiency = 1;
3101 // m_angularDeflectionTimescale = 1000;
3102 // m_bankingEfficiency = 0;
3103 // m_bankingMix = 1;
3104 // m_bankingTimescale = 10;
3105 // m_referenceFrame = Quaternion.Identity;
3106 m_flags &=
3107 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3108 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3109 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3110 break;
3111 case Vehicle.TYPE_CAR:
3112 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
3113 m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
3114 // m_lLinMotorVel = Vector3.Zero;
3115 m_linearMotorTimescale = 1;
3116 m_linearMotorDecayTimescale = 60;
3117 m_angularMotorDirection = Vector3.Zero;
3118 m_angularMotorDVel = Vector3.Zero;
3119 m_angularMotorTimescale = 1;
3120 m_angularMotorDecayTimescale = 0.8f;
3121 m_VhoverHeight = 0;
3122 // m_VhoverEfficiency = 0;
3123 m_VhoverTimescale = 1000;
3124 m_VehicleBuoyancy = 0;
3125 // // m_linearDeflectionEfficiency = 1;
3126 // // m_linearDeflectionTimescale = 2;
3127 // // m_angularDeflectionEfficiency = 0;
3128 // m_angularDeflectionTimescale = 10;
3129 m_verticalAttractionEfficiency = 1f;
3130 m_verticalAttractionTimescale = 10f;
3131 // m_bankingEfficiency = -0.2f;
3132 // m_bankingMix = 1;
3133 // m_bankingTimescale = 1;
3134 // m_referenceFrame = Quaternion.Identity;
3135 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3136 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
3137 VehicleFlag.LIMIT_MOTOR_UP);
3138 break;
3139 case Vehicle.TYPE_BOAT:
3140 m_linearFrictionTimescale = new Vector3(10, 3, 2);
3141 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3142 // m_lLinMotorVel = Vector3.Zero;
3143 m_linearMotorTimescale = 5;
3144 m_linearMotorDecayTimescale = 60;
3145 m_angularMotorDirection = Vector3.Zero;
3146 m_angularMotorDVel = Vector3.Zero;
3147 m_angularMotorTimescale = 4;
3148 m_angularMotorDecayTimescale = 4;
3149 m_VhoverHeight = 0;
3150 // m_VhoverEfficiency = 0.5f;
3151 m_VhoverTimescale = 2;
3152 m_VehicleBuoyancy = 1;
3153 // m_linearDeflectionEfficiency = 0.5f;
3154 // m_linearDeflectionTimescale = 3;
3155 // m_angularDeflectionEfficiency = 0.5f;
3156 // m_angularDeflectionTimescale = 5;
3157 m_verticalAttractionEfficiency = 0.5f;
3158 m_verticalAttractionTimescale = 5f;
3159 // m_bankingEfficiency = -0.3f;
3160 // m_bankingMix = 0.8f;
3161 // m_bankingTimescale = 1;
3162 // m_referenceFrame = Quaternion.Identity;
3163 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
3164 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3165 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
3166 VehicleFlag.LIMIT_MOTOR_UP);
3167 break;
3168 case Vehicle.TYPE_AIRPLANE:
3169 m_linearFrictionTimescale = new Vector3(200, 10, 5);
3170 m_angularFrictionTimescale = new Vector3(20, 20, 20);
3171 // m_lLinMotorVel = Vector3.Zero;
3172 m_linearMotorTimescale = 2;
3173 m_linearMotorDecayTimescale = 60;
3174 m_angularMotorDirection = Vector3.Zero;
3175 m_angularMotorDVel = Vector3.Zero;
3176 m_angularMotorTimescale = 4;
3177 m_angularMotorDecayTimescale = 4;
3178 m_VhoverHeight = 0;
3179 // m_VhoverEfficiency = 0.5f;
3180 m_VhoverTimescale = 1000;
3181 m_VehicleBuoyancy = 0;
3182 // m_linearDeflectionEfficiency = 0.5f;
3183 // m_linearDeflectionTimescale = 3;
3184 // m_angularDeflectionEfficiency = 1;
3185 // m_angularDeflectionTimescale = 2;
3186 m_verticalAttractionEfficiency = 0.9f;
3187 m_verticalAttractionTimescale = 2f;
3188 // m_bankingEfficiency = 1;
3189 // m_bankingMix = 0.7f;
3190 // m_bankingTimescale = 2;
3191 // m_referenceFrame = Quaternion.Identity;
3192 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3193 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3194 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
3195 break;
3196 case Vehicle.TYPE_BALLOON:
3197 m_linearFrictionTimescale = new Vector3(5, 5, 5);
3198 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3199 m_linearMotorTimescale = 5;
3200 m_linearMotorDecayTimescale = 60;
3201 m_angularMotorDirection = Vector3.Zero;
3202 m_angularMotorDVel = Vector3.Zero;
3203 m_angularMotorTimescale = 6;
3204 m_angularMotorDecayTimescale = 10;
3205 m_VhoverHeight = 5;
3206 // m_VhoverEfficiency = 0.8f;
3207 m_VhoverTimescale = 10;
3208 m_VehicleBuoyancy = 1;
3209 // m_linearDeflectionEfficiency = 0;
3210 // m_linearDeflectionTimescale = 5;
3211 // m_angularDeflectionEfficiency = 0;
3212 // m_angularDeflectionTimescale = 5;
3213 m_verticalAttractionEfficiency = 1f;
3214 m_verticalAttractionTimescale = 100f;
3215 // m_bankingEfficiency = 0;
3216 // m_bankingMix = 0.7f;
3217 // m_bankingTimescale = 5;
3218 // m_referenceFrame = Quaternion.Identity;
3219 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3220 VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3221 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3222 break;
3223
3224 }
3225 }//end SetDefaultsForType
3226
3227 internal void Enable(IntPtr pBody, OdeScene pParentScene)
3228 {
3229 if (m_type == Vehicle.TYPE_NONE)
3230 return;
3231
3232 m_body = pBody;
3233 }
3234
3235
3236 internal void Halt()
3237 { // Kill all motions, when non-physical
3238 // m_linearMotorDirection = Vector3.Zero;
3239 m_lLinMotorDVel = Vector3.Zero;
3240 m_lLinObjectVel = Vector3.Zero;
3241 m_wLinObjectVel = Vector3.Zero;
3242 m_angularMotorDirection = Vector3.Zero;
3243 m_lastAngularVelocity = Vector3.Zero;
3244 m_angularMotorDVel = Vector3.Zero;
3245 _acceleration = Vector3.Zero;
3246 }
3247
3248 private void UpdateLinDecay()
3249 {
3250 m_lLinMotorDVel.X = m_linearMotorDirection.X;
3251 m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
3252 m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
3253 } // else let the motor decay on its own
3254
3255 private void UpdateAngDecay()
3256 {
3257 m_angularMotorDVel.X = m_angularMotorDirection.X;
3258 m_angularMotorDVel.Y = m_angularMotorDirection.Y;
3259 m_angularMotorDVel.Z = m_angularMotorDirection.Z;
3260 } // else let the motor decay on its own
3261
3262 public void Move(float timestep)
3263 {
3264 float fx = 0;
3265 float fy = 0;
3266 float fz = 0;
3267 Vector3 linvel; // velocity applied, including any reversal
3268
3269 // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
3270 // This is a temp patch until proper region crossing is developed.
3271
3272
3273 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds) // Only move root prims.
3274 {
3275 // Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3276 bool lastZeroFlag = _zeroFlag; // was it stopped
3277
3278 d.Vector3 vec = d.BodyGetPosition(Body);
3279 Vector3 l_position = Vector3.Zero;
3280 l_position.X = vec.X;
3281 l_position.Y = vec.Y;
3282 l_position.Z = vec.Z;
3283 m_lastposition = _position;
3284 _position = l_position;
3285
3286 d.Quaternion ori = d.BodyGetQuaternion(Body);
3287 // Quaternion l_orientation = Quaternion.Identity;
3288 _orientation.X = ori.X;
3289 _orientation.Y = ori.Y;
3290 _orientation.Z = ori.Z;
3291 _orientation.W = ori.W;
3292 m_lastorientation = _orientation;
3293
3294 d.Vector3 vel = d.BodyGetLinearVel(Body);
3295 m_lastVelocity = _velocity;
3296 _velocity.X = vel.X;
3297 _velocity.Y = vel.Y;
3298 _velocity.Z = vel.Z;
3299 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3300
3301 d.Vector3 torque = d.BodyGetTorque(Body);
3302 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3303
3304
3305 if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X
3306 || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y
3307 )
3308 {
3309 // we are outside current region
3310 // clip position to a stop just outside region and stop it only internally
3311 // do it only once using m_crossingfailures as control
3312 _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f);
3313 _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f);
3314 _position.Z = Util.Clip(l_position.Z, -100f, 50000f);
3315 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
3316 d.BodySetLinearVel(Body, 0, 0, 0);
3317 m_outofBounds = true;
3318 base.RequestPhysicsterseUpdate();
3319 return;
3320 }
3321
3322 base.RequestPhysicsterseUpdate();
3323
3324 if (l_position.Z < 0)
3325 {
3326 // This is so prim that get lost underground don't fall forever and suck up
3327 //
3328 // Sim resources and memory.
3329 // Disables the prim's movement physics....
3330 // It's a hack and will generate a console message if it fails.
3331
3332 //IsPhysical = false;
3333 if (_parent == null) base.RaiseOutOfBounds(_position);
3334
3335
3336 _acceleration.X = 0; // This stuff may stop client display but it has no
3337 _acceleration.Y = 0; // effect on the object in phys engine!
3338 _acceleration.Z = 0;
3339
3340 _velocity.X = 0;
3341 _velocity.Y = 0;
3342 _velocity.Z = 0;
3343 m_lastVelocity = Vector3.Zero;
3344 m_rotationalVelocity.X = 0;
3345 m_rotationalVelocity.Y = 0;
3346 m_rotationalVelocity.Z = 0;
3347
3348 if (_parent == null) base.RequestPhysicsterseUpdate();
3349
3350 m_throttleUpdates = false;
3351 throttleCounter = 0;
3352 _zeroFlag = true;
3353 //outofBounds = true;
3354 } // end neg Z check
3355
3356 // Is it moving?
3357 /* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
3358 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
3359 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
3360 if ((Vector3.Mag(_velocity) < 0.01) && // moving very slowly
3361 (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating
3362 (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // spinning very slowly
3363 {
3364 _zeroFlag = true;
3365 m_throttleUpdates = false;
3366 }
3367 else
3368 {
3369 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3370 _zeroFlag = false;
3371 m_lastUpdateSent = false;
3372 //m_throttleUpdates = false;
3373 }
3374
3375 if (_zeroFlag)
3376 { // Its stopped
3377 _velocity.X = 0.0f;
3378 _velocity.Y = 0.0f;
3379 // _velocity.Z = 0.0f;
3380
3381 _acceleration.X = 0;
3382 _acceleration.Y = 0;
3383 // _acceleration.Z = 0;
3384
3385 m_rotationalVelocity.X = 0;
3386 m_rotationalVelocity.Y = 0;
3387 m_rotationalVelocity.Z = 0;
3388 // Stop it in the phys engine
3389 d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
3390 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
3391 d.BodySetForce(Body, 0f, 0f, 0f);
3392
3393 if (!m_lastUpdateSent)
3394 {
3395 m_throttleUpdates = false;
3396 throttleCounter = 0;
3397 if (_parent == null)
3398 {
3399 base.RequestPhysicsterseUpdate();
3400 }
3401
3402 m_lastUpdateSent = true;
3403 }
3404 }
3405 else
3406 { // Its moving
3407 if (lastZeroFlag != _zeroFlag)
3408 {
3409 if (_parent == null)
3410 {
3411 base.RequestPhysicsterseUpdate();
3412 }
3413 }
3414 m_lastUpdateSent = false;
3415 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3416 {
3417 if (_parent == null)
3418 {
3419 base.RequestPhysicsterseUpdate();
3420 }
3421 }
3422 else
3423 {
3424 throttleCounter++;
3425 }
3426 }
3427 m_lastposition = l_position;
3428
3429 /// End UpdatePositionAndVelocity insert
3430
3431
3432 // Rotation lock =====================================
3433 if (m_rotateEnableUpdate)
3434 {
3435 // Snapshot current angles, set up Amotor(s)
3436 m_rotateEnableUpdate = false;
3437 m_rotateEnable = m_rotateEnableRequest;
3438 //Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
3439
3440 if (Amotor != IntPtr.Zero)
3441 {
3442 d.JointDestroy(Amotor);
3443 Amotor = IntPtr.Zero;
3444 //Console.WriteLine("Old Amotor Destroyed");
3445 }
3446
3447 if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
3448 { // not all are enabled
3449 d.Quaternion r = d.BodyGetQuaternion(Body);
3450 Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
3451 // extract the axes vectors
3452 Vector3 vX = new Vector3(1f, 0f, 0f);
3453 Vector3 vY = new Vector3(0f, 1f, 0f);
3454 Vector3 vZ = new Vector3(0f, 0f, 1f);
3455 vX = vX * locrot;
3456 vY = vY * locrot;
3457 vZ = vZ * locrot;
3458 // snapshot the current angle vectors
3459 m_lockX = vX;
3460 m_lockY = vY;
3461 m_lockZ = vZ;
3462 // m_lockRot = locrot;
3463 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
3464 d.JointAttach(Amotor, Body, IntPtr.Zero);
3465 d.JointSetAMotorMode(Amotor, 0); // User mode??
3466 //Console.WriteLine("New Amotor Created for {0}", m_primName);
3467
3468 float axisnum = 3; // how many to lock
3469 axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
3470 d.JointSetAMotorNumAxes(Amotor, (int)axisnum);
3471 //Console.WriteLine("AxisNum={0}",(int)axisnum);
3472
3473 int i = 0;
3474
3475 if (m_rotateEnable.X == 0)
3476 {
3477 d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
3478 //Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
3479 i++;
3480 }
3481
3482 if (m_rotateEnable.Y == 0)
3483 {
3484 d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
3485 //Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
3486 i++;
3487 }
3488
3489 if (m_rotateEnable.Z == 0)
3490 {
3491 d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
3492 //Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
3493 i++;
3494 }
3495
3496 // These lowstops and high stops are effectively (no wiggle room)
3497 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
3498 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
3499 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
3500 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
3501 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
3502 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
3503 d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f);
3504 d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f);
3505 d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f);
3506 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
3507 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
3508 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
3509 } // else none are locked
3510 } // end Rotation Update
3511
3512
3513 // VEHICLE processing ==========================================
3514 if (m_type != Vehicle.TYPE_NONE)
3515 {
3516 // get body attitude
3517 d.Quaternion rot = d.BodyGetQuaternion(Body);
3518 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
3519 Quaternion irotq = Quaternion.Inverse(rotq);
3520
3521 // VEHICLE Linear Motion
3522 d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
3523 Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
3524 m_lLinObjectVel = vel_now * irotq;
3525 if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
3526 {
3527 if (Vector3.Mag(m_lLinMotorDVel) < 1.0f)
3528 {
3529 float decayfactor = m_linearMotorDecayTimescale / timestep;
3530 Vector3 decayAmount = (m_lLinMotorDVel / decayfactor);
3531 m_lLinMotorDVel -= decayAmount;
3532 }
3533 else
3534 {
3535 float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
3536 Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
3537 m_lLinMotorDVel -= decel;
3538 }
3539 if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3540 {
3541 m_lLinMotorDVel = Vector3.Zero;
3542 }
3543
3544 /* else
3545 {
3546 if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
3547 if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
3548 if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
3549 } */
3550 } // end linear motor decay
3551
3552 if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3553 {
3554 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3555 if (m_linearMotorTimescale < 300.0f)
3556 {
3557 Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
3558 float linfactor = m_linearMotorTimescale / timestep;
3559 Vector3 attackAmount = (attack_error / linfactor) * 1.3f;
3560 m_lLinObjectVel += attackAmount;
3561 }
3562 if (m_linearFrictionTimescale.X < 300.0f)
3563 {
3564 float fricfactor = m_linearFrictionTimescale.X / timestep;
3565 float fricX = m_lLinObjectVel.X / fricfactor;
3566 m_lLinObjectVel.X -= fricX;
3567 }
3568 if (m_linearFrictionTimescale.Y < 300.0f)
3569 {
3570 float fricfactor = m_linearFrictionTimescale.Y / timestep;
3571 float fricY = m_lLinObjectVel.Y / fricfactor;
3572 m_lLinObjectVel.Y -= fricY;
3573 }
3574 if (m_linearFrictionTimescale.Z < 300.0f)
3575 {
3576 float fricfactor = m_linearFrictionTimescale.Z / timestep;
3577 float fricZ = m_lLinObjectVel.Z / fricfactor;
3578 m_lLinObjectVel.Z -= fricZ;
3579 }
3580 }
3581 m_wLinObjectVel = m_lLinObjectVel * rotq;
3582
3583 // Gravity and Buoyancy
3584 Vector3 grav = Vector3.Zero;
3585 if (m_VehicleBuoyancy < 1.0f)
3586 {
3587 // There is some gravity, make a gravity force vector
3588 // that is applied after object velocity.
3589 d.Mass objMass;
3590 d.BodyGetMass(Body, out objMass);
3591 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
3592 grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
3593 } // else its 1.0, no gravity.
3594
3595 // Hovering
3596 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
3597 {
3598 // We should hover, get the target height
3599 d.Vector3 pos = d.BodyGetPosition(Body);
3600 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
3601 {
3602 m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
3603 }
3604 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
3605 {
3606 m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
3607 }
3608 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
3609 {
3610 m_VhoverTargetHeight = m_VhoverHeight;
3611 }
3612
3613 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
3614 {
3615 // If body is aready heigher, use its height as target height
3616 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
3617 }
3618
3619 // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
3620 // m_VhoverTimescale = 0f; // time to acheive height
3621 // timestep is time since last frame,in secs
3622 float herr0 = pos.Z - m_VhoverTargetHeight;
3623 // Replace Vertical speed with correction figure if significant
3624 if (Math.Abs(herr0) > 0.01f)
3625 {
3626 //? d.Mass objMass;
3627 //? d.BodyGetMass(Body, out objMass);
3628 m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale);
3629 //KF: m_VhoverEfficiency is not yet implemented
3630 }
3631 else
3632 {
3633 m_wLinObjectVel.Z = 0f;
3634 }
3635 }
3636 else
3637 { // not hovering
3638 if (m_wLinObjectVel.Z == 0f)
3639 { // Gravity rules
3640 m_wLinObjectVel.Z = vel_now.Z;
3641 } // else the motor has it
3642 }
3643 linvel = m_wLinObjectVel;
3644
3645 // Vehicle Linear Motion done =======================================
3646 // Apply velocity
3647 d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
3648 // apply gravity force
3649 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
3650 //if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav);
3651 // end MoveLinear()
3652
3653
3654 // MoveAngular
3655 /*
3656 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
3657
3658 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
3659 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
3660 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
3661
3662 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
3663 private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
3664 */
3665 //if(frcount == 0) Console.WriteLine("MoveAngular ");
3666
3667 d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
3668 Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
3669 angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation
3670
3671 //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
3672
3673 // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
3674 float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
3675 m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
3676 // Decay Angular Motor 2.
3677 if (m_angularMotorDecayTimescale < 300.0f)
3678 {
3679 if (Vector3.Mag(m_angularMotorDVel) < 1.0f)
3680 {
3681 float decayfactor = (m_angularMotorDecayTimescale) / timestep;
3682 Vector3 decayAmount = (m_angularMotorDVel / decayfactor);
3683 m_angularMotorDVel -= decayAmount;
3684 }
3685 else
3686 {
3687 Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
3688 m_angularMotorDVel -= decel;
3689 }
3690
3691 if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3692 {
3693 m_angularMotorDVel = Vector3.Zero;
3694 }
3695 else
3696 {
3697 if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
3698 if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
3699 if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
3700 }
3701 } // end decay angular motor
3702 //if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3703
3704 //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
3705
3706 if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3707 { // if motor or object have motion
3708 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3709
3710 if (m_angularMotorTimescale < 300.0f)
3711 {
3712 Vector3 attack_error = m_angularMotorDVel - angObjectVel;
3713 float angfactor = m_angularMotorTimescale / timestep;
3714 Vector3 attackAmount = (attack_error / angfactor);
3715 angObjectVel += attackAmount;
3716 //if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
3717 //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
3718 }
3719
3720 angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
3721 angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
3722 angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
3723 } // else no signif. motion
3724
3725 //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3726 // Bank section tba
3727 // Deflection section tba
3728 //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
3729
3730
3731 /* // Rotation Axis Disables:
3732 if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
3733 {
3734 if (m_angularEnable.X == 0)
3735 angObjectVel.X = 0f;
3736 if (m_angularEnable.Y == 0)
3737 angObjectVel.Y = 0f;
3738 if (m_angularEnable.Z == 0)
3739 angObjectVel.Z = 0f;
3740 }
3741 */
3742 angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
3743
3744 // Vertical attractor section
3745 Vector3 vertattr = Vector3.Zero;
3746
3747 if (m_verticalAttractionTimescale < 300)
3748 {
3749 float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
3750 // make a vector pointing up
3751 Vector3 verterr = Vector3.Zero;
3752 verterr.Z = 1.0f;
3753 // rotate it to Body Angle
3754 verterr = verterr * rotq;
3755 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
3756 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
3757 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
3758
3759 if (verterr.Z < 0.0f)
3760 { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
3761 // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
3762 //Console.WriteLine("InvertFlip");
3763 verterr.X = 2.0f - verterr.X;
3764 verterr.Y = 2.0f - verterr.Y;
3765 }
3766 verterr *= 0.5f;
3767 // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
3768 Vector3 xyav = angObjectVel;
3769 xyav.Z = 0.0f;
3770 if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
3771 {
3772 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
3773 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
3774 vertattr.X = verterr.Y;
3775 vertattr.Y = -verterr.X;
3776 vertattr.Z = 0f;
3777 //if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
3778
3779 // scaling appears better usingsquare-law
3780 float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
3781 float bounce = 1.0f - damped;
3782 // 0 = crit damp, 1 = bouncy
3783 float oavz = angObjectVel.Z; // retain z velocity
3784 // time-scaled correction, which sums, therefore is bouncy:
3785 angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
3786 // damped, good @ < 90:
3787 angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
3788 angObjectVel.Z = oavz;
3789 //if(frcount == 0) Console.WriteLine("VA+");
3790 //Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
3791 }
3792 else
3793 {
3794 // else error is very small
3795 angObjectVel.X = 0f;
3796 angObjectVel.Y = 0f;
3797 //if(frcount == 0) Console.WriteLine("VA0");
3798 }
3799 } // else vertical attractor is off
3800 //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
3801
3802
3803 m_lastAngularVelocity = angObjectVel;
3804 // apply Angular Velocity to body
3805 d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
3806 //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
3807
3808 } // end VEHICLES
3809 else
3810 {
3811 // Dyamics (NON-'VEHICLES') are dealt with here ================================================================
3812
3813 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
3814
3815 /// Dynamics Buoyancy
3816 //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
3817 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
3818 // NB Prims in ODE are no subject to global gravity
3819 // This should only affect gravity operations
3820
3821 float m_mass = CalculateMass();
3822 // calculate z-force due togravity on object.
3823 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
3824 if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
3825 {
3826 fz = 0; // llMoveToTarget ignores gravity.
3827 // it also ignores mass of object, and any physical resting on it.
3828 // Vector3 m_PIDTarget is where we are going
3829 // float m_PIDTau is time to get there
3830 fx = 0;
3831 fy = 0;
3832 d.Vector3 pos = d.BodyGetPosition(Body);
3833 Vector3 error = new Vector3(
3834 (m_PIDTarget.X - pos.X),
3835 (m_PIDTarget.Y - pos.Y),
3836 (m_PIDTarget.Z - pos.Z));
3837 if (error.ApproxEquals(Vector3.Zero, 0.01f))
3838 { // Very close, Jump there and quit move
3839
3840 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3841 _target_velocity = Vector3.Zero;
3842 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3843 d.BodySetForce(Body, 0f, 0f, 0f);
3844 }
3845 else
3846 {
3847 float scale = 50.0f * timestep / m_PIDTau;
3848 if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero))
3849 {
3850 // Nearby, quit update of velocity
3851 }
3852 else
3853 { // Far, calc damped velocity
3854 _target_velocity = error * scale;
3855 }
3856 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3857 }
3858 } // end PID MoveToTarget
3859
3860
3861 /// Dynamics Hover ===================================================================================
3862 // Hover PID Controller can only run if the PIDcontroller is not in use.
3863 if (m_useHoverPID && !m_usePID)
3864 {
3865 //Console.WriteLine("Hover " + m_primName);
3866
3867 // If we're using the PID controller, then we have no gravity
3868 fz = (-1 * _parent_scene.gravityz) * m_mass;
3869
3870 // no lock; for now it's only called from within Simulate()
3871
3872 // If the PID Controller isn't active then we set our force
3873 // calculating base velocity to the current position
3874
3875 if ((m_PIDTau < 1))
3876 {
3877 PID_G = PID_G / m_PIDTau;
3878 }
3879
3880 if ((PID_G - m_PIDTau) <= 0)
3881 {
3882 PID_G = m_PIDTau + 1;
3883 }
3884
3885
3886 // Where are we, and where are we headed?
3887 d.Vector3 pos = d.BodyGetPosition(Body);
3888 // d.Vector3 vel = d.BodyGetLinearVel(Body);
3889
3890
3891 // Non-Vehicles have a limited set of Hover options.
3892 // determine what our target height really is based on HoverType
3893 switch (m_PIDHoverType)
3894 {
3895 case PIDHoverType.Ground:
3896 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3897 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3898 break;
3899 case PIDHoverType.GroundAndWater:
3900 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3901 m_waterHeight = _parent_scene.GetWaterLevel();
3902 if (m_groundHeight > m_waterHeight)
3903 {
3904 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3905 }
3906 else
3907 {
3908 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3909 }
3910 break;
3911
3912 } // end switch (m_PIDHoverType)
3913
3914
3915 _target_velocity =
3916 new Vector3(0.0f, 0.0f,
3917 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3918 );
3919
3920 // if velocity is zero, use position control; otherwise, velocity control
3921
3922 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3923 {
3924 // keep track of where we stopped. No more slippin' & slidin'
3925
3926 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3927 // react to the physics scene by moving it's position.
3928 // Avatar to Avatar collisions
3929 // Prim to avatar collisions
3930 d.Vector3 dlinvel = vel;
3931 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3932 d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
3933 d.BodyAddForce(Body, 0, 0, fz);
3934 //KF this prevents furthur motions return;
3935 }
3936 else
3937 {
3938 _zeroFlag = false;
3939
3940 // We're flying and colliding with something
3941 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
3942 }
3943 } // end m_useHoverPID && !m_usePID
3944
3945
3946 /// Dynamics Apply Forces ===================================================================================
3947 fx *= m_mass;
3948 fy *= m_mass;
3949 //fz *= m_mass;
3950 fx += m_force.X;
3951 fy += m_force.Y;
3952 fz += m_force.Z;
3953
3954 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3955 if (fx != 0 || fy != 0 || fz != 0)
3956 {
3957 //m_taintdisable = true;
3958 //base.RaiseOutOfBounds(Position);
3959 //d.BodySetLinearVel(Body, fx, fy, 0f);
3960 if (!d.BodyIsEnabled(Body))
3961 {
3962 // A physical body at rest on a surface will auto-disable after a while,
3963 // this appears to re-enable it incase the surface it is upon vanishes,
3964 // and the body should fall again.
3965 d.BodySetLinearVel(Body, 0f, 0f, 0f);
3966 d.BodySetForce(Body, 0f, 0f, 0f);
3967 enableBodySoft();
3968 }
3969
3970 // 35x10 = 350n times the mass per second applied maximum.
3971 float nmax = 35f * m_mass;
3972 float nmin = -35f * m_mass;
3973
3974
3975 if (fx > nmax)
3976 fx = nmax;
3977 if (fx < nmin)
3978 fx = nmin;
3979 if (fy > nmax)
3980 fy = nmax;
3981 if (fy < nmin)
3982 fy = nmin;
3983 d.BodyAddForce(Body, fx, fy, fz);
3984 } // end apply forces
3985 } // end Vehicle/Dynamics
3986
3987 /// RotLookAt / LookAt =================================================================================
3988 if (m_useAPID)
3989 {
3990 // RotLookAt, apparently overrides all other rotation sources. Inputs:
3991 // Quaternion m_APIDTarget
3992 // float m_APIDStrength // From SL experiments, this is the time to get there
3993 // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
3994 // Also in SL the mass of the object has no effect on time to get there.
3995 // Factors:
3996 // get present body rotation
3997 float limit = 1.0f;
3998 float rscaler = 50f; // adjusts rotation damping time
3999 float lscaler = 10f; // adjusts linear damping time in llLookAt
4000 float RLAservo = 0f;
4001 Vector3 diff_axis;
4002 float diff_angle;
4003 d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation
4004 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
4005 Quaternion rtarget = new Quaternion();
4006
4007 if (m_APIDTarget.W == -99.9f)
4008 {
4009 // this is really a llLookAt(), x,y,z is the target vector
4010 Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
4011 Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
4012 Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
4013 float twopi = 2.0f * (float)Math.PI;
4014 Vector3 dir = target - _position;
4015 dir.Normalize();
4016 float tzrot = (float)Math.Atan2(dir.Y, dir.X);
4017 float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
4018 float terot = (float)Math.Atan2(dir.Z, txy);
4019 float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
4020 float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
4021 float oerot = (float)Math.Atan2(ospin.Z, oxy);
4022 float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
4023 float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X));
4024 float roll = (float)Math.Atan2(ra, rb);
4025 float errorz = tzrot - ozrot;
4026 if (errorz > (float)Math.PI) errorz -= twopi;
4027 else if (errorz < -(float)Math.PI) errorz += twopi;
4028 float errory = oerot - terot;
4029 if (errory > (float)Math.PI) errory -= twopi;
4030 else if (errory < -(float)Math.PI) errory += twopi;
4031 diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
4032 if (diff_angle > 0.01f * m_APIDdamper)
4033 {
4034 m_APIDdamper = 1.0f;
4035 RLAservo = timestep / m_APIDStrength * rscaler;
4036 errorz *= RLAservo;
4037 errory *= RLAservo;
4038 error.X = -roll * 8.0f;
4039 error.Y = errory;
4040 error.Z = errorz;
4041 error *= rotq;
4042 d.BodySetAngularVel(Body, error.X, error.Y, error.Z);
4043 }
4044 else
4045 {
4046 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4047 m_APIDdamper = 2.0f;
4048 }
4049 }
4050 else
4051 {
4052 // this is a llRotLookAt()
4053 rtarget = m_APIDTarget;
4054
4055 Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot
4056 rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle
4057 //if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle);
4058
4059 // diff_axis.Normalize(); it already is!
4060 if (diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error
4061 {
4062 m_APIDdamper = 1.0f;
4063 Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
4064 rotforce = rotforce * rotq;
4065 if (diff_angle > limit) diff_angle = limit; // cap the rotate rate
4066 RLAservo = timestep / m_APIDStrength * lscaler;
4067 rotforce = rotforce * RLAservo * diff_angle;
4068 d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z);
4069 //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
4070 }
4071 else
4072 { // close enough
4073 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4074 m_APIDdamper = 2.0f;
4075 }
4076 } // end llLookAt/llRotLookAt
4077 //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
4078 } // end m_useAPID
4079 } // end root prims
4080 } // end Move()
4081 } // end class
4082}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..712029e
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,384 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using Ode.NET;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending Raycast Requests
49 /// </summary>
50 protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 /// <summary>
58 /// ODE contact array to be filled by the collision testing
59 /// </summary>
60 d.ContactGeom[] contacts = new d.ContactGeom[5];
61
62 /// <summary>
63 /// ODE near callback delegate
64 /// </summary>
65 private d.NearCallback nearCallback;
66 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
67 private List<ContactResult> m_contactResults = new List<ContactResult>();
68
69
70 public ODERayCastRequestManager(OdeScene pScene)
71 {
72 m_scene = pScene;
73 nearCallback = near;
74
75 }
76
77 /// <summary>
78 /// Queues a raycast
79 /// </summary>
80 /// <param name="position">Origin of Ray</param>
81 /// <param name="direction">Ray normal</param>
82 /// <param name="length">Ray length</param>
83 /// <param name="retMethod">Return method to send the results</param>
84 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
85 {
86 lock (m_PendingRequests)
87 {
88 ODERayCastRequest req = new ODERayCastRequest();
89 req.callbackMethod = retMethod;
90 req.length = length;
91 req.Normal = direction;
92 req.Origin = position;
93
94 m_PendingRequests.Add(req);
95 }
96 }
97
98 /// <summary>
99 /// Process all queued raycast requests
100 /// </summary>
101 /// <returns>Time in MS the raycasts took to process.</returns>
102 public int ProcessQueuedRequests()
103 {
104 int time = System.Environment.TickCount;
105 lock (m_PendingRequests)
106 {
107 if (m_PendingRequests.Count > 0)
108 {
109 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
110 for (int i = 0; i < reqs.Length; i++)
111 {
112 try
113 {
114 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
115 RayCast(reqs[i]); // if there isn't anyone to send results
116 }
117 catch
118 {
119 //Fail silently
120 //This can genuinely happen because raycast requests are queued, and the actor may have
121 //been removed from the scene since it was queued
122 }
123 }
124 /*
125 foreach (ODERayCastRequest req in m_PendingRequests)
126 {
127 if (req.callbackMethod != null) // quick optimization here, don't raycast
128 RayCast(req); // if there isn't anyone to send results to
129
130 }
131 */
132 m_PendingRequests.Clear();
133 }
134 }
135
136 lock (m_contactResults)
137 m_contactResults.Clear();
138
139 return System.Environment.TickCount - time;
140 }
141
142 /// <summary>
143 /// Method that actually initiates the raycast
144 /// </summary>
145 /// <param name="req"></param>
146 private void RayCast(ODERayCastRequest req)
147 {
148 // Create the ray
149 IntPtr ray = d.CreateRay(m_scene.space, req.length);
150 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
151
152 // Collide test
153 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
154
155 // Remove Ray
156 d.GeomDestroy(ray);
157
158
159 // Define default results
160 bool hitYN = false;
161 uint hitConsumerID = 0;
162 float distance = 999999999999f;
163 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
164 Vector3 snormal = Vector3.Zero;
165
166 // Find closest contact and object.
167 lock (m_contactResults)
168 {
169 foreach (ContactResult cResult in m_contactResults)
170 {
171 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
172 {
173 closestcontact = cResult.Pos;
174 hitConsumerID = cResult.ConsumerID;
175 distance = cResult.Depth;
176 hitYN = true;
177 snormal = cResult.Normal;
178 }
179 }
180
181 m_contactResults.Clear();
182 }
183
184 // Return results
185 if (req.callbackMethod != null)
186 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
187 }
188
189 // This is the standard Near. Uses space AABBs to speed up detection.
190 private void near(IntPtr space, IntPtr g1, IntPtr g2)
191 {
192
193 //Don't test against heightfield Geom, or you'll be sorry!
194
195 /*
196 terminate called after throwing an instance of 'std::bad_alloc'
197 what(): std::bad_alloc
198 Stacktrace:
199
200 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
201 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
202 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
203 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
204 fffff>
205 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
206 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
207 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
208 0x00114>
209 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
210 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
211 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
212 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
213 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
214 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
215
216 Native stacktrace:
217
218 mono [0x80d2a42]
219 [0xb7f5840c]
220 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
221 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
222 /usr/lib/libstdc++.so.6 [0xb45fa865]
223 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
224 /usr/lib/libstdc++.so.6 [0xb45fa9da]
225 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
226 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
227 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
228 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
229 libode.so(dCollide+0x102) [0xb46571b2]
230 [0x95cfdec9]
231 [0x8ea07fe1]
232 [0xab260146]
233 libode.so [0xb465a5c4]
234 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
235 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
236 [0x95cf978e]
237 [0x8ea07945]
238 [0x95cf2bbc]
239 [0xab2787e7]
240 [0xab419fb3]
241 [0xab416657]
242 [0xab415bda]
243 [0xb609b08e]
244 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
245 mono [0x81a2f0f]
246 mono [0x81d28b6]
247 mono [0x81ea2c6]
248 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
249 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
250 */
251
252 // Exclude heightfield geom
253
254 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
255 return;
256 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
257 return;
258
259 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
260 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
261 {
262 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
263 return;
264
265 // Separating static prim geometry spaces.
266 // We'll be calling near recursivly if one
267 // of them is a space to find all of the
268 // contact points in the space
269 try
270 {
271 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
272 }
273 catch (AccessViolationException)
274 {
275 m_log.Warn("[PHYSICS]: Unable to collide test a space");
276 return;
277 }
278 //Colliding a space or a geom with a space or a geom. so drill down
279
280 //Collide all geoms in each space..
281 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
282 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
283 return;
284 }
285
286 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
287 return;
288
289 int count = 0;
290 try
291 {
292
293 if (g1 == g2)
294 return; // Can't collide with yourself
295
296 lock (contacts)
297 {
298 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
299 }
300 }
301 catch (SEHException)
302 {
303 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
304 }
305 catch (Exception e)
306 {
307 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
308 return;
309 }
310
311 PhysicsActor p1 = null;
312 PhysicsActor p2 = null;
313
314 if (g1 != IntPtr.Zero)
315 m_scene.actor_name_map.TryGetValue(g1, out p1);
316
317 if (g2 != IntPtr.Zero)
318 m_scene.actor_name_map.TryGetValue(g1, out p2);
319
320 // Loop over contacts, build results.
321 for (int i = 0; i < count; i++)
322 {
323 if (p1 != null) {
324 if (p1 is OdePrim)
325 {
326 ContactResult collisionresult = new ContactResult();
327
328 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
329 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
330 collisionresult.Depth = contacts[i].depth;
331 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
332 contacts[i].normal.Z);
333 lock (m_contactResults)
334 m_contactResults.Add(collisionresult);
335 }
336 }
337
338 if (p2 != null)
339 {
340 if (p2 is OdePrim)
341 {
342 ContactResult collisionresult = new ContactResult();
343
344 collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
345 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
346 collisionresult.Depth = contacts[i].depth;
347 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
348 contacts[i].normal.Z);
349
350 lock (m_contactResults)
351 m_contactResults.Add(collisionresult);
352 }
353 }
354
355
356 }
357
358 }
359
360 /// <summary>
361 /// Dereference the creator scene so that it can be garbage collected if needed.
362 /// </summary>
363 internal void Dispose()
364 {
365 m_scene = null;
366 }
367 }
368
369 public struct ODERayCastRequest
370 {
371 public Vector3 Origin;
372 public Vector3 Normal;
373 public float length;
374 public RaycastCallback callbackMethod;
375 }
376
377 public struct ContactResult
378 {
379 public Vector3 Pos;
380 public float Depth;
381 public uint ConsumerID;
382 public Vector3 Normal;
383 }
384}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
new file mode 100644
index 0000000..b4a3c48
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
@@ -0,0 +1,48 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using OpenMetaverse;
30using Ode.NET;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using OpenSim.Region.Physics.OdePlugin;
34
35namespace OpenSim.Region.Physics.OdePlugin
36{
37 class OdePhysicsJoint : PhysicsJoint
38 {
39 public override bool IsInPhysicsEngine
40 {
41 get
42 {
43 return (jointID != IntPtr.Zero);
44 }
45 }
46 public IntPtr jointID;
47 }
48}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..00f5122
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -0,0 +1,3887 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define USE_DRAWSTUFF
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using Ode.NET;
40#if USE_DRAWSTUFF
41using Drawstuff.NET;
42#endif
43using OpenSim.Framework;
44using OpenSim.Region.Physics.Manager;
45using OpenMetaverse;
46
47//using OpenSim.Region.Physics.OdePlugin.Meshing;
48
49namespace OpenSim.Region.Physics.OdePlugin
50{
51 /// <summary>
52 /// ODE plugin
53 /// </summary>
54 public class OdePlugin : IPhysicsPlugin
55 {
56 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
57
58 private CollisionLocker ode;
59 private OdeScene _mScene;
60
61 public OdePlugin()
62 {
63 ode = new CollisionLocker();
64 }
65
66 public bool Init()
67 {
68 return true;
69 }
70
71 public PhysicsScene GetScene(String sceneIdentifier)
72 {
73 if (_mScene == null)
74 {
75 if (Util.IsWindows())
76 Util.LoadArchSpecificWindowsDll("ode.dll");
77
78 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
79 // http://opensimulator.org/mantis/view.php?id=2750).
80 d.InitODE();
81
82 _mScene = new OdeScene(ode, sceneIdentifier);
83 }
84 return (_mScene);
85 }
86
87 public string GetName()
88 {
89 return ("ChODE");
90 }
91
92 public void Dispose()
93 {
94 }
95 }
96
97 public enum StatusIndicators : int
98 {
99 Generic = 0,
100 Start = 1,
101 End = 2
102 }
103
104 public struct sCollisionData
105 {
106 public uint ColliderLocalId;
107 public uint CollidedWithLocalId;
108 public int NumberOfCollisions;
109 public int CollisionType;
110 public int StatusIndicator;
111 public int lastframe;
112 }
113
114 [Flags]
115 public enum CollisionCategories : int
116 {
117 Disabled = 0,
118 Geom = 0x00000001,
119 Body = 0x00000002,
120 Space = 0x00000004,
121 Character = 0x00000008,
122 Land = 0x00000010,
123 Water = 0x00000020,
124 Wind = 0x00000040,
125 Sensor = 0x00000080,
126 Selected = 0x00000100
127 }
128
129 /// <summary>
130 /// Material type for a primitive
131 /// </summary>
132 public enum Material : int
133 {
134 /// <summary></summary>
135 Stone = 0,
136 /// <summary></summary>
137 Metal = 1,
138 /// <summary></summary>
139 Glass = 2,
140 /// <summary></summary>
141 Wood = 3,
142 /// <summary></summary>
143 Flesh = 4,
144 /// <summary></summary>
145 Plastic = 5,
146 /// <summary></summary>
147 Rubber = 6
148
149 }
150
151 public sealed class OdeScene : PhysicsScene
152 {
153 private readonly ILog m_log;
154 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
155
156 CollisionLocker ode;
157
158 private Random fluidRandomizer = new Random(Environment.TickCount);
159
160 private const uint m_regionWidth = Constants.RegionSize;
161 private const uint m_regionHeight = Constants.RegionSize;
162
163 private float ODE_STEPSIZE = 0.020f;
164 private float metersInSpace = 29.9f;
165 private float m_timeDilation = 1.0f;
166
167 public float gravityx = 0f;
168 public float gravityy = 0f;
169 public float gravityz = -9.8f;
170
171 private float contactsurfacelayer = 0.001f;
172
173 private int worldHashspaceLow = -4;
174 private int worldHashspaceHigh = 128;
175
176 private int smallHashspaceLow = -4;
177 private int smallHashspaceHigh = 66;
178
179 private float waterlevel = 0f;
180 private int framecount = 0;
181 //private int m_returncollisions = 10;
182
183 private readonly IntPtr contactgroup;
184
185 internal IntPtr LandGeom;
186 internal IntPtr WaterGeom;
187
188 private float nmTerrainContactFriction = 255.0f;
189 private float nmTerrainContactBounce = 0.1f;
190 private float nmTerrainContactERP = 0.1025f;
191
192 private float mTerrainContactFriction = 75f;
193 private float mTerrainContactBounce = 0.1f;
194 private float mTerrainContactERP = 0.05025f;
195
196 private float nmAvatarObjectContactFriction = 250f;
197 private float nmAvatarObjectContactBounce = 0.1f;
198
199 private float mAvatarObjectContactFriction = 75f;
200 private float mAvatarObjectContactBounce = 0.1f;
201
202 private float avPIDD = 3200f;
203 private float avPIDP = 1400f;
204 private float avCapRadius = 0.37f;
205 private float avStandupTensor = 2000000f;
206 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
207 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
208 private float avDensity = 80f;
209 private float avHeightFudgeFactor = 0.52f;
210 private float avMovementDivisorWalk = 1.3f;
211 private float avMovementDivisorRun = 0.8f;
212 private float minimumGroundFlightOffset = 3f;
213 public float maximumMassObject = 10000.01f;
214
215 public bool meshSculptedPrim = true;
216 public bool forceSimplePrimMeshing = false;
217
218 public float meshSculptLOD = 32;
219 public float MeshSculptphysicalLOD = 16;
220
221 public float geomDefaultDensity = 10.000006836f;
222
223 public int geomContactPointsStartthrottle = 3;
224 public int geomUpdatesPerThrottledUpdate = 15;
225
226 public float bodyPIDD = 35f;
227 public float bodyPIDG = 25;
228
229 public int geomCrossingFailuresBeforeOutofbounds = 5;
230 public float geomRegionFence = 0.0f;
231
232 public float bodyMotorJointMaxforceTensor = 2;
233
234 public int bodyFramesAutoDisable = 20;
235
236 private DateTime m_lastframe = DateTime.UtcNow;
237
238 private float[] _watermap;
239 private bool m_filterCollisions = true;
240
241 private d.NearCallback nearCallback;
242 public d.TriCallback triCallback;
243 public d.TriArrayCallback triArrayCallback;
244 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
245 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
246 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
247 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
248 private readonly Object _taintedPrimLock = new Object();
249 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
250 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
251 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
252 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
253 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
254 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
255 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
256 private bool m_NINJA_physics_joints_enabled = false;
257 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
258 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
259 private d.ContactGeom[] contacts;
260 private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
261 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
262 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
263 private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
264 private Object externalJointRequestsLock = new Object();
265 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
266 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
267 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
268 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
269
270 private d.Contact ContactCopy; // local copy that can be modified
271 private d.Contact TerrainContact;
272 private d.Contact AvatarStaticprimContact; // was 'contact'
273 private d.Contact AvatarMovementprimContact;
274 private d.Contact AvatarMovementTerrainContact;
275 private d.Contact WaterContact;
276 private d.Contact[,] m_materialContacts;
277
278//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
279//Ckrinke private int m_randomizeWater = 200;
280 private int m_physicsiterations = 10;
281 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
282 private readonly PhysicsActor PANull = new NullPhysicsActor();
283 private float step_time = 0.0f;
284//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
285//Ckrinke private int ms = 0;
286 public IntPtr world;
287 //private bool returncollisions = false;
288 // private uint obj1LocalID = 0;
289 private uint obj2LocalID = 0;
290 //private int ctype = 0;
291 private OdeCharacter cc1;
292 private OdePrim cp1;
293 private OdeCharacter cc2;
294 private OdePrim cp2;
295 //private int cStartStop = 0;
296 //private string cDictKey = "";
297
298 public IntPtr space;
299
300 //private IntPtr tmpSpace;
301 // split static geometry collision handling into spaces of 30 meters
302 public IntPtr[,] staticPrimspace;
303
304 public Object OdeLock;
305
306 public IMesher mesher;
307
308 private IConfigSource m_config;
309
310 public bool physics_logging = false;
311 public int physics_logging_interval = 0;
312 public bool physics_logging_append_existing_logfile = false;
313
314 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
315 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
316
317 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
318 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
319 // TODO: unused: private uint heightmapWidthSamples;
320 // TODO: unused: private uint heightmapHeightSamples;
321
322 private volatile int m_global_contactcount = 0;
323
324 private Vector3 m_worldOffset = Vector3.Zero;
325 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
326 private PhysicsScene m_parentScene = null;
327
328 private ODERayCastRequestManager m_rayCastManager;
329
330 /// <summary>
331 /// Initiailizes the scene
332 /// Sets many properties that ODE requires to be stable
333 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
334 /// </summary>
335 public OdeScene(CollisionLocker dode, string sceneIdentifier)
336 {
337 m_log
338 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
339
340 OdeLock = new Object();
341 ode = dode;
342 nearCallback = near;
343 triCallback = TriCallback;
344 triArrayCallback = TriArrayCallback;
345 m_rayCastManager = new ODERayCastRequestManager(this);
346 lock (OdeLock)
347 {
348 // Create the world and the first space
349 world = d.WorldCreate();
350 space = d.HashSpaceCreate(IntPtr.Zero);
351
352
353 contactgroup = d.JointGroupCreate(0);
354 //contactgroup
355
356 d.WorldSetAutoDisableFlag(world, false);
357 #if USE_DRAWSTUFF
358
359 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
360 viewthread.Start();
361 #endif
362 }
363
364
365 _watermap = new float[258 * 258];
366
367 // Zero out the prim spaces array (we split our space into smaller spaces so
368 // we can hit test less.
369 }
370
371#if USE_DRAWSTUFF
372 public void startvisualization(object o)
373 {
374 ds.Functions fn;
375 fn.version = ds.VERSION;
376 fn.start = new ds.CallbackFunction(start);
377 fn.step = new ds.CallbackFunction(step);
378 fn.command = new ds.CallbackFunction(command);
379 fn.stop = null;
380 fn.path_to_textures = "./textures";
381 string[] args = new string[0];
382 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
383 }
384#endif
385
386 // Initialize the mesh plugin
387 public override void Initialise(IMesher meshmerizer, IConfigSource config)
388 {
389 mesher = meshmerizer;
390 m_config = config;
391 // Defaults
392
393 if (Environment.OSVersion.Platform == PlatformID.Unix)
394 {
395 avPIDD = 3200.0f;
396 avPIDP = 1400.0f;
397 avStandupTensor = 2000000f;
398 }
399 else
400 {
401 avPIDD = 2200.0f;
402 avPIDP = 900.0f;
403 avStandupTensor = 550000f;
404 }
405
406 int contactsPerCollision = 80;
407
408 if (m_config != null)
409 {
410 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
411 if (physicsconfig != null)
412 {
413 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
414 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
415 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
416
417 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
418 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
419
420 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
421 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
422 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
423
424 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
425
426 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
427 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
428 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
429
430 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
431 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
432 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
433
434 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
435 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
436
437 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
438 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
439
440 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
441 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
442
443 avDensity = physicsconfig.GetFloat("av_density", 80f);
444 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
445 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
446 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
447 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
448 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
449
450 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
451
452 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
453 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
454 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
455 geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
456
457 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
458 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
459
460 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
461 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
462
463 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
464 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
465 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
466 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
467 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
468
469 if (Environment.OSVersion.Platform == PlatformID.Unix)
470 {
471 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
472 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
473 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
474 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
475 }
476 else
477 {
478 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
479 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
480 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
481 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
482 }
483
484 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
485 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
486 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
487
488 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
489 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
490 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
491 }
492 }
493
494 contacts = new d.ContactGeom[contactsPerCollision];
495
496 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
497
498 // Avatar static on a Prim parameters
499 AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
500 AvatarStaticprimContact.surface.mu = 255.0f;
501 AvatarStaticprimContact.surface.bounce = 0.0f;
502 AvatarStaticprimContact.surface.soft_cfm = 0.0f;
503 AvatarStaticprimContact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
504
505 // Avatar moving on a Prim parameters
506 AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
507 AvatarMovementprimContact.surface.mu = 255.0f;
508 AvatarMovementprimContact.surface.bounce = 0.0f;
509 AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
510 AvatarMovementprimContact.surface.soft_erp = 0.3f;
511
512 // Static Avatar on Terrain parameters
513 // Keeps Avatar in place better
514 TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
515 TerrainContact.surface.mu = 255.0f;
516 TerrainContact.surface.bounce = 0.0f;
517 TerrainContact.surface.soft_cfm = 0.0f;
518 TerrainContact.surface.soft_erp = 0.05f;
519
520 // Moving Avatar on Terrain parameters
521 AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
522 AvatarMovementTerrainContact.surface.mu = 75f;
523 AvatarMovementTerrainContact.surface.bounce = 0.0f;
524 AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
525 AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
526
527 // Avatar or prim the the water, this may not be used, possibly water is same as air?
528 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
529 WaterContact.surface.mu = 0.0f; // No friction
530 WaterContact.surface.bounce = 0.0f; // No bounce
531 WaterContact.surface.soft_cfm = 0.010f;
532 WaterContact.surface.soft_erp = 0.010f;
533
534
535 // Prim static or moving on a prim, depends on material type
536 m_materialContacts = new d.Contact[7,2];
537 // V 1 = Sliding; 0 = static or fell onto
538 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
539 m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
540 m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // friction, 1 = slippery, 255 = no slip
541 m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;
542 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
543 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
544
545 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
546 m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
547 m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
548 m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
549 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
550 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
551
552 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
553 m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
554 m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
555 m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
556 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
557 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
558
559 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
560 m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
561 m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
562 m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
563 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
564 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
565
566 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
567 m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
568 m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
569 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
570 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
571 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
572
573 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
574 m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
575 m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
576 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
577 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
578 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
579
580 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
581 m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
582 m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
583 m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
584 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
585 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
586
587 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
588 m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
589 m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
590 m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
591 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
592 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
593
594 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
595 m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
596 m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
597 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
598 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
599 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
600
601 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
602 m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
603 m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
604 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
605 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
606 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
607
608 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
609 m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
610 m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
611 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
612 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
613 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
614
615 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
616 m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
617 m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
618 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
619 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
620 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
621
622 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
623 m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
624 m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
625 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
626 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
627 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
628
629 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
630 m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
631 m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
632 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
633 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
634 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
635
636 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
637
638 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
639
640 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
641 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
642
643
644 d.WorldSetLinearDampingThreshold(world, 256f);
645 d.WorldSetLinearDamping(world, 256f);
646// d.WorldSetLinearDampingThreshold(world, 0.01f);
647// d.WorldSetLinearDamping(world, 0.1f);
648 d.WorldSetAngularDampingThreshold(world, 256f);
649 d.WorldSetAngularDamping(world, 256f);
650 d.WorldSetMaxAngularSpeed(world, 256f);
651
652 // Set how many steps we go without running collision testing
653 // This is in addition to the step size.
654 // Essentially Steps * m_physicsiterations
655 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
656 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
657
658
659
660 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
661 {
662 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
663 {
664 staticPrimspace[i, j] = IntPtr.Zero;
665 }
666 }
667 }
668
669 internal void waitForSpaceUnlock(IntPtr space)
670 {
671 //if (space != IntPtr.Zero)
672 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
673 }
674
675 /// <summary>
676 /// Debug space message for printing the space that a prim/avatar is in.
677 /// </summary>
678 /// <param name="pos"></param>
679 /// <returns>Returns which split up space the given position is in.</returns>
680 public string whichspaceamIin(Vector3 pos)
681 {
682 return calculateSpaceForGeom(pos).ToString();
683 }
684
685 #region Collision Detection
686
687 /// <summary>
688 /// This is our near callback. A geometry is near a body
689 /// </summary>
690 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
691 /// <param name="g1">a geometry or space</param>
692 /// <param name="g2">another geometry or space</param>
693 private void near(IntPtr space, IntPtr g1, IntPtr g2)
694 {
695 // no lock here! It's invoked from within Simulate(), which is thread-locked
696
697 // Test if we're colliding a geom with a space.
698 // If so we have to drill down into the space recursively
699//Console.WriteLine("near -----------"); //##
700 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
701 {
702 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
703 return;
704
705 // Separating static prim geometry spaces.
706 // We'll be calling near recursivly if one
707 // of them is a space to find all of the
708 // contact points in the space
709 try
710 {
711 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
712 }
713 catch (AccessViolationException)
714 {
715 m_log.Warn("[PHYSICS]: Unable to collide test a space");
716 return;
717 }
718 //Colliding a space or a geom with a space or a geom. so drill down
719
720 //Collide all geoms in each space..
721 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
722 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
723 return;
724 }
725
726 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
727 return;
728
729 IntPtr b1 = d.GeomGetBody(g1);
730 IntPtr b2 = d.GeomGetBody(g2);
731
732 // d.GeomClassID id = d.GeomGetClass(g1);
733
734 String name1 = null;
735 String name2 = null;
736
737 if (!geom_name_map.TryGetValue(g1, out name1))
738 {
739 name1 = "null";
740 }
741 if (!geom_name_map.TryGetValue(g2, out name2))
742 {
743 name2 = "null";
744 }
745
746 //if (id == d.GeomClassId.TriMeshClass)
747 //{
748 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
749 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
750 //}
751
752 // Figure out how many contact points we have
753 int count = 0;
754 try
755 {
756 // Colliding Geom To Geom
757 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
758
759 if (g1 == g2)
760 return; // Can't collide with yourself
761
762 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
763 return;
764
765 lock (contacts)
766 {
767 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
768 if (count > contacts.Length)
769 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
770 }
771 }
772 catch (SEHException)
773 {
774 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
775 ode.drelease(world);
776 base.TriggerPhysicsBasedRestart();
777 }
778 catch (Exception e)
779 {
780 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
781 return;
782 }
783
784 PhysicsActor p1;
785 PhysicsActor p2;
786
787 if (!actor_name_map.TryGetValue(g1, out p1))
788 {
789 p1 = PANull;
790 }
791
792 if (!actor_name_map.TryGetValue(g2, out p2))
793 {
794 p2 = PANull;
795 }
796
797 ContactPoint maxDepthContact = new ContactPoint();
798 if (p1.CollisionScore + count >= float.MaxValue)
799 p1.CollisionScore = 0;
800 p1.CollisionScore += count;
801
802 if (p2.CollisionScore + count >= float.MaxValue)
803 p2.CollisionScore = 0;
804 p2.CollisionScore += count;
805 for (int i = 0; i < count; i++)
806 {
807 d.ContactGeom curContact = contacts[i];
808
809 if (curContact.depth > maxDepthContact.PenetrationDepth)
810 {
811 maxDepthContact = new ContactPoint(
812 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
813 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
814 curContact.depth
815 );
816 }
817
818 //m_log.Warn("[CCOUNT]: " + count);
819 IntPtr joint;
820 // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
821 // allows us to have different settings
822
823 // We only need to test p2 for 'jump crouch purposes'
824 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
825 {
826 // Testing if the collision is at the feet of the avatar
827
828 //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
829//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
830//#@ p2.IsColliding = true;
831 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
832 p2.IsColliding = true; //##
833 }else{
834
835 } //##
836 }
837 else
838 {
839 p2.IsColliding = true;
840 }
841
842 //if ((framecount % m_returncollisions) == 0)
843
844 switch (p1.PhysicsActorType)
845 {
846 case (int)ActorTypes.Agent:
847 p2.CollidingObj = true;
848 break;
849 case (int)ActorTypes.Prim:
850 if (p2.Velocity.LengthSquared() > 0.0f)
851 p2.CollidingObj = true;
852 break;
853 case (int)ActorTypes.Unknown:
854 p2.CollidingGround = true;
855 break;
856 default:
857 p2.CollidingGround = true;
858 break;
859 }
860
861 // we don't want prim or avatar to explode
862
863 #region InterPenetration Handling - Unintended physics explosions
864# region disabled code1
865
866 if (curContact.depth >= 0.08f)
867 {
868 //This is disabled at the moment only because it needs more tweaking
869 //It will eventually be uncommented
870 /*
871 if (AvatarStaticprimContact.depth >= 1.00f)
872 {
873 //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
874 }
875
876 //If you interpenetrate a prim with an agent
877 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
878 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
879 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
880 p2.PhysicsActorType == (int) ActorTypes.Prim))
881 {
882
883 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
884 /*
885 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
886 {
887 p2.CollidingObj = true;
888 AvatarStaticprimContact.depth = 0.003f;
889 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
890 OdeCharacter character = (OdeCharacter) p2;
891 character.SetPidStatus(true);
892 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
893
894 }
895 else
896 {
897
898 //AvatarStaticprimContact.depth = 0.0000000f;
899 }
900 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
901 {
902
903 p1.CollidingObj = true;
904 AvatarStaticprimContact.depth = 0.003f;
905 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
906 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
907 OdeCharacter character = (OdeCharacter)p1;
908 character.SetPidStatus(true);
909 }
910 else
911 {
912
913 //AvatarStaticprimContact.depth = 0.0000000f;
914 }
915
916
917
918 }
919*/
920 // If you interpenetrate a prim with another prim
921 /*
922 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
923 {
924 #region disabledcode2
925 //OdePrim op1 = (OdePrim)p1;
926 //OdePrim op2 = (OdePrim)p2;
927 //op1.m_collisionscore++;
928 //op2.m_collisionscore++;
929
930 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
931 //{
932 //op1.m_taintdisable = true;
933 //AddPhysicsActorTaint(p1);
934 //op2.m_taintdisable = true;
935 //AddPhysicsActorTaint(p2);
936 //}
937
938 //if (AvatarStaticprimContact.depth >= 0.25f)
939 //{
940 // Don't collide, one or both prim will expld.
941
942 //op1.m_interpenetrationcount++;
943 //op2.m_interpenetrationcount++;
944 //interpenetrations_before_disable = 200;
945 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
946 //{
947 //op1.m_taintdisable = true;
948 //AddPhysicsActorTaint(p1);
949 //}
950 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
951 //{
952 // op2.m_taintdisable = true;
953 //AddPhysicsActorTaint(p2);
954 //}
955
956 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
957 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
958 //}
959 //if (op1.m_disabled || op2.m_disabled)
960 //{
961 //Manually disabled objects stay disabled
962 //AvatarStaticprimContact.depth = 0f;
963 //}
964 #endregion
965 }
966 */
967#endregion
968 if (curContact.depth >= 1.00f)
969 {
970 //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
971 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
972 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
973 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
974 p2.PhysicsActorType == (int) ActorTypes.Unknown))
975 {
976 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
977 {
978 if (p2 is OdeCharacter)
979 {
980 OdeCharacter character = (OdeCharacter) p2;
981
982 //p2.CollidingObj = true;
983 curContact.depth = 0.00000003f;
984 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
985 curContact.pos =
986 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
987 curContact.pos.Y + (p1.Size.Y/2),
988 curContact.pos.Z + (p1.Size.Z/2));
989 character.SetPidStatus(true);
990 }
991 }
992
993
994 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
995 {
996 if (p1 is OdeCharacter)
997 {
998 OdeCharacter character = (OdeCharacter) p1;
999
1000 //p2.CollidingObj = true;
1001 curContact.depth = 0.00000003f;
1002 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1003 curContact.pos =
1004 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1005 curContact.pos.Y + (p1.Size.Y/2),
1006 curContact.pos.Z + (p1.Size.Z/2));
1007 character.SetPidStatus(true);
1008 }
1009 }
1010 }
1011 }
1012 }
1013
1014 #endregion
1015
1016 // Logic for collision handling
1017 // Note, that if *all* contacts are skipped (VolumeDetect)
1018 // The prim still detects (and forwards) collision events but
1019 // appears to be phantom for the world
1020 Boolean skipThisContact = false;
1021
1022 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1023 skipThisContact = true; // No collision on volume detect prims
1024
1025 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1026 skipThisContact = true; // No collision on volume detect prims
1027
1028 if (!skipThisContact && curContact.depth < 0f)
1029 skipThisContact = true;
1030
1031 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1032 skipThisContact = true;
1033
1034 const int maxContactsbeforedeath = 4000;
1035 joint = IntPtr.Zero;
1036
1037 if (!skipThisContact)
1038 {
1039 // Add contact joints with materials params----------------------------------
1040 // p1 is what is being hit, p2 is the physical object doing the hitting
1041 int material = (int) Material.Wood;
1042 int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
1043 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
1044
1045 // If we're colliding against terrain
1046 if (name1 == "Terrain" || name2 == "Terrain")
1047 {
1048 // If we're moving
1049 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
1050 {
1051 //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
1052 AvatarMovementTerrainContact.geom = curContact;
1053 _perloopContact.Add(curContact);
1054 if (m_global_contactcount < maxContactsbeforedeath)
1055 {
1056 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1057 m_global_contactcount++;
1058 }
1059 }
1060 else
1061 {
1062 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1063 {
1064 //$ Av standing on terrain, Use the non moving Avata terrain contact
1065 TerrainContact.geom = curContact;
1066 _perloopContact.Add(curContact);
1067 if (m_global_contactcount < maxContactsbeforedeath)
1068 {
1069 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1070 m_global_contactcount++;
1071 }
1072 }
1073 else
1074 {
1075 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1076 {
1077 //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
1078 // int pj294950 = 0;
1079 // prim terrain contact
1080
1081 if (p2 is OdePrim)
1082 material = ((OdePrim)p2).m_material;
1083 //m_log.DebugFormat("Material: {0}", material);
1084 m_materialContacts[material, movintYN].geom = curContact;
1085 _perloopContact.Add(curContact);
1086
1087 if (m_global_contactcount < maxContactsbeforedeath)
1088 {
1089 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1090 m_global_contactcount++;
1091
1092 }
1093
1094 }
1095 else
1096 {
1097 //$ prim on terrain contact
1098 if (p2 is OdePrim)
1099 material = ((OdePrim)p2).m_material;
1100 //m_log.DebugFormat("Material: {0}", material);
1101 m_materialContacts[material, movintYN].geom = curContact;
1102 _perloopContact.Add(curContact);
1103
1104 ContactCopy = m_materialContacts[material, movintYN];
1105 if(movintYN == 1)
1106 {
1107 // prevent excessive slide on terrain
1108 ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
1109 }
1110
1111 if (m_global_contactcount < maxContactsbeforedeath)
1112 {
1113 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1114 m_global_contactcount++;
1115 }
1116 }
1117 }
1118 }
1119 }
1120 else if (name1 == "Water" || name2 == "Water")
1121 {
1122 //$ This never happens! Perhaps water is treated like air?
1123 /*
1124 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1125 {
1126 }
1127 else
1128 {
1129 }
1130 */
1131 //WaterContact.surface.soft_cfm = 0.0000f;
1132 //WaterContact.surface.soft_erp = 0.00000f;
1133 if (curContact.depth > 0.1f)
1134 {
1135 curContact.depth *= 52;
1136 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
1137 //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1138 }
1139 WaterContact.geom = curContact;
1140 _perloopContact.Add(curContact);
1141 if (m_global_contactcount < maxContactsbeforedeath)
1142 {
1143 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1144 m_global_contactcount++;
1145 }
1146 //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
1147 }
1148 else
1149 {
1150
1151 // no terrain and no water, we're colliding with prim or avatar
1152 // check if we're moving
1153 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1154 {
1155 //$ Avatar on Prim or other Avatar
1156 if (movintYN == 1)
1157 {
1158 // Use the AV Movement / prim contact
1159 AvatarMovementprimContact.geom = curContact;
1160 _perloopContact.Add(curContact);
1161 if (m_global_contactcount < maxContactsbeforedeath)
1162 {
1163 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1164 m_global_contactcount++;
1165 }
1166 }
1167 else
1168 {
1169 // Use the Av non movement / prim contact
1170 AvatarStaticprimContact.geom = curContact;
1171 _perloopContact.Add(curContact);
1172 ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
1173
1174 if (m_global_contactcount < maxContactsbeforedeath)
1175 {
1176 if (curContact.depth > 0.2)
1177 { // embedded, eject slowly
1178 ContactCopy.surface.soft_erp = 0.1f;
1179 ContactCopy.surface.soft_cfm = 0.1f;
1180 }
1181 else
1182 { // keep on the surface
1183 ContactCopy.surface.soft_erp = 0.3f;
1184 ContactCopy.surface.soft_cfm = 0.0f;
1185 }
1186 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1187 m_global_contactcount++;
1188 }
1189 }
1190 }
1191 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1192 {
1193 //$ Prim on Prim
1194 //p1.PhysicsActorType
1195
1196 if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
1197 //m_log.DebugFormat("Material: {0}", material);
1198
1199 m_materialContacts[material, movintYN].geom = curContact;
1200 _perloopContact.Add(curContact);
1201
1202 if (m_global_contactcount < maxContactsbeforedeath)
1203 {
1204 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1205 m_global_contactcount++;
1206 }
1207 }
1208 }
1209
1210 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1211 {
1212 d.JointAttach(joint, b1, b2);
1213 m_global_contactcount++;
1214 }
1215
1216 }
1217 collision_accounting_events(p1, p2, maxDepthContact);
1218 if (count > geomContactPointsStartthrottle)
1219 {
1220 // If there are more then 3 contact points, it's likely
1221 // that we've got a pile of objects, so ...
1222 // We don't want to send out hundreds of terse updates over and over again
1223 // so lets throttle them and send them again after it's somewhat sorted out.
1224 p2.ThrottleUpdates = true;
1225 }
1226 //m_log.Debug(count.ToString());
1227 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1228 } // end for i.. loop
1229 } // end near
1230
1231 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1232 {
1233 bool result = false;
1234 //return result;
1235 if (!m_filterCollisions)
1236 return false;
1237
1238 ActorTypes at = (ActorTypes)atype;
1239 lock (_perloopContact)
1240 {
1241 foreach (d.ContactGeom contact in _perloopContact)
1242 {
1243 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1244 //{
1245 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1246 if (at == ActorTypes.Agent)
1247 {
1248 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1249 {
1250
1251 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1252 {
1253 //contactGeom.depth *= .00005f;
1254 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1255 // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1256 result = true;
1257 break;
1258 }
1259 else
1260 {
1261 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1262 }
1263 }
1264 else
1265 {
1266 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1267 //int i = 0;
1268 }
1269 }
1270 else if (at == ActorTypes.Prim)
1271 {
1272 //d.AABB aabb1 = new d.AABB();
1273 //d.AABB aabb2 = new d.AABB();
1274
1275 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1276 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1277 //aabb1.
1278 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1279 {
1280 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1281 {
1282 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1283 {
1284 result = true;
1285 break;
1286 }
1287 }
1288 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1289 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1290 }
1291
1292 }
1293
1294 //}
1295
1296 }
1297 }
1298 return result;
1299 }
1300
1301 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1302 {
1303 // obj1LocalID = 0;
1304 //returncollisions = false;
1305 obj2LocalID = 0;
1306 //ctype = 0;
1307 //cStartStop = 0;
1308 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1309 return;
1310
1311 switch ((ActorTypes)p2.PhysicsActorType)
1312 {
1313 case ActorTypes.Agent:
1314 cc2 = (OdeCharacter)p2;
1315
1316 // obj1LocalID = cc2.m_localID;
1317 switch ((ActorTypes)p1.PhysicsActorType)
1318 {
1319 case ActorTypes.Agent:
1320 cc1 = (OdeCharacter)p1;
1321 obj2LocalID = cc1.m_localID;
1322 cc1.AddCollisionEvent(cc2.m_localID, contact);
1323 //ctype = (int)CollisionCategories.Character;
1324
1325 //if (cc1.CollidingObj)
1326 //cStartStop = (int)StatusIndicators.Generic;
1327 //else
1328 //cStartStop = (int)StatusIndicators.Start;
1329
1330 //returncollisions = true;
1331 break;
1332 case ActorTypes.Prim:
1333 if (p1 is OdePrim)
1334 {
1335 cp1 = (OdePrim) p1;
1336 obj2LocalID = cp1.m_localID;
1337 cp1.AddCollisionEvent(cc2.m_localID, contact);
1338 }
1339 //ctype = (int)CollisionCategories.Geom;
1340
1341 //if (cp1.CollidingObj)
1342 //cStartStop = (int)StatusIndicators.Generic;
1343 //else
1344 //cStartStop = (int)StatusIndicators.Start;
1345
1346 //returncollisions = true;
1347 break;
1348
1349 case ActorTypes.Ground:
1350 case ActorTypes.Unknown:
1351 obj2LocalID = 0;
1352 //ctype = (int)CollisionCategories.Land;
1353 //returncollisions = true;
1354 break;
1355 }
1356
1357 cc2.AddCollisionEvent(obj2LocalID, contact);
1358 break;
1359 case ActorTypes.Prim:
1360
1361 if (p2 is OdePrim)
1362 {
1363 cp2 = (OdePrim) p2;
1364
1365 // obj1LocalID = cp2.m_localID;
1366 switch ((ActorTypes) p1.PhysicsActorType)
1367 {
1368 case ActorTypes.Agent:
1369 if (p1 is OdeCharacter)
1370 {
1371 cc1 = (OdeCharacter) p1;
1372 obj2LocalID = cc1.m_localID;
1373 cc1.AddCollisionEvent(cp2.m_localID, contact);
1374 //ctype = (int)CollisionCategories.Character;
1375
1376 //if (cc1.CollidingObj)
1377 //cStartStop = (int)StatusIndicators.Generic;
1378 //else
1379 //cStartStop = (int)StatusIndicators.Start;
1380 //returncollisions = true;
1381 }
1382 break;
1383 case ActorTypes.Prim:
1384
1385 if (p1 is OdePrim)
1386 {
1387 cp1 = (OdePrim) p1;
1388 obj2LocalID = cp1.m_localID;
1389 cp1.AddCollisionEvent(cp2.m_localID, contact);
1390 //ctype = (int)CollisionCategories.Geom;
1391
1392 //if (cp1.CollidingObj)
1393 //cStartStop = (int)StatusIndicators.Generic;
1394 //else
1395 //cStartStop = (int)StatusIndicators.Start;
1396
1397 //returncollisions = true;
1398 }
1399 break;
1400
1401 case ActorTypes.Ground:
1402 case ActorTypes.Unknown:
1403 obj2LocalID = 0;
1404 //ctype = (int)CollisionCategories.Land;
1405
1406 //returncollisions = true;
1407 break;
1408 }
1409
1410 cp2.AddCollisionEvent(obj2LocalID, contact);
1411 }
1412 break;
1413 }
1414 //if (returncollisions)
1415 //{
1416
1417 //lock (m_storedCollisions)
1418 //{
1419 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1420 //if (m_storedCollisions.ContainsKey(cDictKey))
1421 //{
1422 //sCollisionData objd = m_storedCollisions[cDictKey];
1423 //objd.NumberOfCollisions += 1;
1424 //objd.lastframe = framecount;
1425 //m_storedCollisions[cDictKey] = objd;
1426 //}
1427 //else
1428 //{
1429 //sCollisionData objd = new sCollisionData();
1430 //objd.ColliderLocalId = obj1LocalID;
1431 //objd.CollidedWithLocalId = obj2LocalID;
1432 //objd.CollisionType = ctype;
1433 //objd.NumberOfCollisions = 1;
1434 //objd.lastframe = framecount;
1435 //objd.StatusIndicator = cStartStop;
1436 //m_storedCollisions.Add(cDictKey, objd);
1437 //}
1438 //}
1439 // }
1440 }
1441
1442 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1443 {
1444 /* String name1 = null;
1445 String name2 = null;
1446
1447 if (!geom_name_map.TryGetValue(trimesh, out name1))
1448 {
1449 name1 = "null";
1450 }
1451 if (!geom_name_map.TryGetValue(refObject, out name2))
1452 {
1453 name2 = "null";
1454 }
1455
1456 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1457 */
1458 return 1;
1459 }
1460
1461 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1462 {
1463 String name1 = null;
1464 String name2 = null;
1465
1466 if (!geom_name_map.TryGetValue(trimesh, out name1))
1467 {
1468 name1 = "null";
1469 }
1470
1471 if (!geom_name_map.TryGetValue(refObject, out name2))
1472 {
1473 name2 = "null";
1474 }
1475
1476 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1477
1478 d.Vector3 v0 = new d.Vector3();
1479 d.Vector3 v1 = new d.Vector3();
1480 d.Vector3 v2 = new d.Vector3();
1481
1482 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1483 // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
1484
1485 return 1;
1486 }
1487
1488 /// <summary>
1489 /// This is our collision testing routine in ODE
1490 /// </summary>
1491 /// <param name="timeStep"></param>
1492 private void collision_optimized(float timeStep)
1493 {
1494 _perloopContact.Clear();
1495
1496 lock (_characters)
1497 {
1498 foreach (OdeCharacter chr in _characters)
1499 {
1500 // Reset the collision values to false
1501 // since we don't know if we're colliding yet
1502
1503 // For some reason this can happen. Don't ask...
1504 //
1505 if (chr == null)
1506 continue;
1507
1508 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1509 continue;
1510
1511 chr.IsColliding = false;
1512 chr.CollidingGround = false;
1513 chr.CollidingObj = false;
1514
1515 // test the avatar's geometry for collision with the space
1516 // This will return near and the space that they are the closest to
1517 // And we'll run this again against the avatar and the space segment
1518 // This will return with a bunch of possible objects in the space segment
1519 // and we'll run it again on all of them.
1520 try
1521 {
1522 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1523 }
1524 catch (AccessViolationException)
1525 {
1526 m_log.Warn("[PHYSICS]: Unable to space collide");
1527 }
1528 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1529 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1530 //{
1531 //chr.Position.Z = terrainheight + 10.0f;
1532 //forcedZ = true;
1533 //}
1534 }
1535 }
1536
1537 lock (_activeprims)
1538 {
1539 List<OdePrim> removeprims = null;
1540 foreach (OdePrim chr in _activeprims)
1541 {
1542 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds)
1543 {
1544 try
1545 {
1546 lock (chr)
1547 {
1548 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1549 {
1550 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1551 }
1552 else
1553 {
1554 if (removeprims == null)
1555 {
1556 removeprims = new List<OdePrim>();
1557 }
1558 removeprims.Add(chr);
1559 /// Commented this because it triggers on every bullet
1560 //m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!");
1561 }
1562 }
1563 }
1564 catch (AccessViolationException)
1565 {
1566 m_log.Warn("[PHYSICS]: Unable to space collide");
1567 }
1568 }
1569 }
1570 if (removeprims != null)
1571 {
1572 foreach (OdePrim chr in removeprims)
1573 {
1574 _activeprims.Remove(chr);
1575 }
1576 }
1577 }
1578
1579 _perloopContact.Clear();
1580 }
1581
1582 #endregion
1583
1584 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1585 {
1586 m_worldOffset = offset;
1587 WorldExtents = new Vector2(extents.X, extents.Y);
1588 m_parentScene = pScene;
1589
1590 }
1591
1592 // Recovered for use by fly height. Kitto Flora
1593 public float GetTerrainHeightAtXY(float x, float y)
1594 {
1595
1596 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1597 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1598
1599 IntPtr heightFieldGeom = IntPtr.Zero;
1600
1601 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1602 {
1603 if (heightFieldGeom != IntPtr.Zero)
1604 {
1605 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1606 {
1607
1608 int index;
1609
1610
1611 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1612 (int)x < 0.001f || (int)y < 0.001f)
1613 return 0;
1614
1615 x = x - offsetX;
1616 y = y - offsetY;
1617
1618 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1619
1620 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1621 {
1622 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1623 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1624 }
1625
1626 else
1627 return 0f;
1628 }
1629 else
1630 {
1631 return 0f;
1632 }
1633
1634 }
1635 else
1636 {
1637 return 0f;
1638 }
1639
1640 }
1641 else
1642 {
1643 return 0f;
1644 }
1645
1646
1647 }
1648// End recovered. Kitto Flora
1649
1650 public void addCollisionEventReporting(PhysicsActor obj)
1651 {
1652 lock (_collisionEventPrim)
1653 {
1654 if (!_collisionEventPrim.Contains(obj))
1655 _collisionEventPrim.Add(obj);
1656 }
1657 }
1658
1659 public void remCollisionEventReporting(PhysicsActor obj)
1660 {
1661 lock (_collisionEventPrim)
1662 {
1663 if (!_collisionEventPrim.Contains(obj))
1664 _collisionEventPrim.Remove(obj);
1665 }
1666 }
1667
1668 #region Add/Remove Entities
1669
1670 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1671 {
1672 Vector3 pos;
1673 pos.X = position.X;
1674 pos.Y = position.Y;
1675 pos.Z = position.Z;
1676 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1677 newAv.Flying = isFlying;
1678 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1679
1680 return newAv;
1681 }
1682
1683 public void AddCharacter(OdeCharacter chr)
1684 {
1685 lock (_characters)
1686 {
1687 if (!_characters.Contains(chr))
1688 {
1689 _characters.Add(chr);
1690 if (chr.bad)
1691 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1692 }
1693 }
1694 }
1695
1696 public void RemoveCharacter(OdeCharacter chr)
1697 {
1698 lock (_characters)
1699 {
1700 if (_characters.Contains(chr))
1701 {
1702 _characters.Remove(chr);
1703 }
1704 }
1705 }
1706 public void BadCharacter(OdeCharacter chr)
1707 {
1708 lock (_badCharacter)
1709 {
1710 if (!_badCharacter.Contains(chr))
1711 _badCharacter.Add(chr);
1712 }
1713 }
1714
1715 public override void RemoveAvatar(PhysicsActor actor)
1716 {
1717 //m_log.Debug("[PHYSICS]:ODELOCK");
1718 ((OdeCharacter) actor).Destroy();
1719
1720 }
1721
1722 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1723 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, bool isphantom, byte shapetype, uint localid)
1724 {
1725
1726 Vector3 pos = position;
1727 Vector3 siz = size;
1728 Quaternion rot = rotation;
1729
1730 OdePrim newPrim;
1731 lock (OdeLock)
1732 {
1733 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, isphantom, shapetype, ode, localid);
1734
1735 lock (_prims)
1736 _prims.Add(newPrim);
1737 }
1738
1739 return newPrim;
1740 }
1741
1742
1743 public void addActivePrim(OdePrim activatePrim)
1744 {
1745 // adds active prim.. (ones that should be iterated over in collisions_optimized
1746 lock (_activeprims)
1747 {
1748 if (!_activeprims.Contains(activatePrim))
1749 _activeprims.Add(activatePrim);
1750 //else
1751 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1752 }
1753 }
1754
1755 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1756 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1757 {
1758 PhysicsActor result;
1759 IMesh mesh = null;
1760
1761 if (needsMeshing(pbs))
1762 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1763
1764 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical,false,0, localid);
1765
1766 return result;
1767 }
1768
1769 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1770 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1771 {
1772 PhysicsActor result;
1773 IMesh mesh = null;
1774
1775 if (needsMeshing(pbs))
1776 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1777
1778 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom,0, localid);
1779
1780 return result;
1781 }
1782
1783 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1784 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
1785 {
1786 PhysicsActor result;
1787 IMesh mesh = null;
1788
1789 if (needsMeshing(pbs))
1790 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1791
1792 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom, shapetype, localid);
1793
1794 return result;
1795 }
1796
1797 public override float TimeDilation
1798 {
1799 get { return m_timeDilation; }
1800 }
1801
1802 public override bool SupportsNINJAJoints
1803 {
1804 get { return m_NINJA_physics_joints_enabled; }
1805 }
1806
1807 // internal utility function: must be called within a lock (OdeLock)
1808 private void InternalAddActiveJoint(PhysicsJoint joint)
1809 {
1810 activeJoints.Add(joint);
1811 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1812 }
1813
1814 // internal utility function: must be called within a lock (OdeLock)
1815 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1816 {
1817 pendingJoints.Add(joint);
1818 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1819 }
1820
1821 // internal utility function: must be called within a lock (OdeLock)
1822 private void InternalRemovePendingJoint(PhysicsJoint joint)
1823 {
1824 pendingJoints.Remove(joint);
1825 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1826 }
1827
1828 // internal utility function: must be called within a lock (OdeLock)
1829 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1830 {
1831 activeJoints.Remove(joint);
1832 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1833 }
1834
1835 public override void DumpJointInfo()
1836 {
1837 string hdr = "[NINJA] JOINTINFO: ";
1838 foreach (PhysicsJoint j in pendingJoints)
1839 {
1840 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1841 }
1842 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1843 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1844 {
1845 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1846 }
1847 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1848 foreach (PhysicsJoint j in activeJoints)
1849 {
1850 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1851 }
1852 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1853 foreach (string jointName in SOPName_to_activeJoint.Keys)
1854 {
1855 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1856 }
1857 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1858
1859 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1860 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1861 foreach (string actorName in joints_connecting_actor.Keys)
1862 {
1863 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1864 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1865 {
1866 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1867 }
1868 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1869 }
1870 }
1871
1872 public override void RequestJointDeletion(string ObjectNameInScene)
1873 {
1874 lock (externalJointRequestsLock)
1875 {
1876 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1877 {
1878 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1879 }
1880 }
1881 }
1882
1883 private void DeleteRequestedJoints()
1884 {
1885 List<string> myRequestedJointsToBeDeleted;
1886 lock (externalJointRequestsLock)
1887 {
1888 // make a local copy of the shared list for processing (threading issues)
1889 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1890 }
1891
1892 foreach (string jointName in myRequestedJointsToBeDeleted)
1893 {
1894 lock (OdeLock)
1895 {
1896 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1897 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1898 {
1899 OdePhysicsJoint joint = null;
1900 if (SOPName_to_activeJoint.ContainsKey(jointName))
1901 {
1902 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1903 InternalRemoveActiveJoint(joint);
1904 }
1905 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1906 {
1907 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1908 InternalRemovePendingJoint(joint);
1909 }
1910
1911 if (joint != null)
1912 {
1913 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1914 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1915 {
1916 string bodyName = joint.BodyNames[iBodyName];
1917 if (bodyName != "NULL")
1918 {
1919 joints_connecting_actor[bodyName].Remove(joint);
1920 if (joints_connecting_actor[bodyName].Count == 0)
1921 {
1922 joints_connecting_actor.Remove(bodyName);
1923 }
1924 }
1925 }
1926
1927 DoJointDeactivated(joint);
1928 if (joint.jointID != IntPtr.Zero)
1929 {
1930 d.JointDestroy(joint.jointID);
1931 joint.jointID = IntPtr.Zero;
1932 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1933 }
1934 else
1935 {
1936 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1937 }
1938 }
1939 else
1940 {
1941 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1942 }
1943 }
1944 else
1945 {
1946 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1947 }
1948 }
1949 }
1950
1951 // remove processed joints from the shared list
1952 lock (externalJointRequestsLock)
1953 {
1954 foreach (string jointName in myRequestedJointsToBeDeleted)
1955 {
1956 requestedJointsToBeDeleted.Remove(jointName);
1957 }
1958 }
1959 }
1960
1961 // for pending joints we don't know if their associated bodies exist yet or not.
1962 // the joint is actually created during processing of the taints
1963 private void CreateRequestedJoints()
1964 {
1965 List<PhysicsJoint> myRequestedJointsToBeCreated;
1966 lock (externalJointRequestsLock)
1967 {
1968 // make a local copy of the shared list for processing (threading issues)
1969 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1970 }
1971
1972 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1973 {
1974 lock (OdeLock)
1975 {
1976 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1977 {
1978 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1979 continue;
1980 }
1981 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1982 {
1983 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1984 continue;
1985 }
1986
1987 InternalAddPendingJoint(joint as OdePhysicsJoint);
1988
1989 if (joint.BodyNames.Count >= 2)
1990 {
1991 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1992 {
1993 string bodyName = joint.BodyNames[iBodyName];
1994 if (bodyName != "NULL")
1995 {
1996 if (!joints_connecting_actor.ContainsKey(bodyName))
1997 {
1998 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1999 }
2000 joints_connecting_actor[bodyName].Add(joint);
2001 }
2002 }
2003 }
2004 }
2005 }
2006
2007 // remove processed joints from shared list
2008 lock (externalJointRequestsLock)
2009 {
2010 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
2011 {
2012 requestedJointsToBeCreated.Remove(joint);
2013 }
2014 }
2015
2016 }
2017
2018 // public function to add an request for joint creation
2019 // this joint will just be added to a waiting list that is NOT processed during the main
2020 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
2021
2022 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
2023 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
2024
2025 {
2026
2027 OdePhysicsJoint joint = new OdePhysicsJoint();
2028 joint.ObjectNameInScene = objectNameInScene;
2029 joint.Type = jointType;
2030 joint.Position = position;
2031 joint.Rotation = rotation;
2032 joint.RawParams = parms;
2033 joint.BodyNames = new List<string>(bodyNames);
2034 joint.TrackedBodyName = trackedBodyName;
2035 joint.LocalRotation = localRotation;
2036 joint.jointID = IntPtr.Zero;
2037 joint.ErrorMessageCount = 0;
2038
2039 lock (externalJointRequestsLock)
2040 {
2041 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2042 {
2043 requestedJointsToBeCreated.Add(joint);
2044 }
2045 }
2046 return joint;
2047 }
2048
2049 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2050 {
2051 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2052 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2053 {
2054
2055 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2056 //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
2057 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2058 {
2059 jointsToRemove.Add(j);
2060 }
2061 foreach (PhysicsJoint j in jointsToRemove)
2062 {
2063 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2064 RequestJointDeletion(j.ObjectNameInScene);
2065 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2066 j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
2067 }
2068 }
2069 }
2070
2071 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2072 {
2073 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2074 lock (OdeLock)
2075 {
2076 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2077 RemoveAllJointsConnectedToActor(actor);
2078 }
2079 }
2080
2081 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2082 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2083 {
2084 Debug.Assert(joint.IsInPhysicsEngine);
2085 d.Vector3 pos = new d.Vector3();
2086
2087 if (!(joint is OdePhysicsJoint))
2088 {
2089 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2090 }
2091 else
2092 {
2093 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2094 switch (odeJoint.Type)
2095 {
2096 case PhysicsJointType.Ball:
2097 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2098 break;
2099 case PhysicsJointType.Hinge:
2100 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2101 break;
2102 }
2103 }
2104 return new Vector3(pos.X, pos.Y, pos.Z);
2105 }
2106
2107 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2108 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2109 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2110 // keeping track of the joint's original orientation relative to one of the involved bodies.
2111 public override Vector3 GetJointAxis(PhysicsJoint joint)
2112 {
2113 Debug.Assert(joint.IsInPhysicsEngine);
2114 d.Vector3 axis = new d.Vector3();
2115
2116 if (!(joint is OdePhysicsJoint))
2117 {
2118 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2119 }
2120 else
2121 {
2122 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2123 switch (odeJoint.Type)
2124 {
2125 case PhysicsJointType.Ball:
2126 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2127 break;
2128 case PhysicsJointType.Hinge:
2129 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2130 break;
2131 }
2132 }
2133 return new Vector3(axis.X, axis.Y, axis.Z);
2134 }
2135
2136
2137 public void remActivePrim(OdePrim deactivatePrim)
2138 {
2139 lock (_activeprims)
2140 {
2141 _activeprims.Remove(deactivatePrim);
2142 }
2143 }
2144
2145 public override void RemovePrim(PhysicsActor prim)
2146 {
2147 if (prim is OdePrim)
2148 {
2149 lock (OdeLock)
2150 {
2151 OdePrim p = (OdePrim) prim;
2152
2153 p.setPrimForRemoval();
2154 AddPhysicsActorTaint(prim);
2155 //RemovePrimThreadLocked(p);
2156 }
2157 }
2158 }
2159
2160 /// <summary>
2161 /// This is called from within simulate but outside the locked portion
2162 /// We need to do our own locking here
2163 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2164 ///
2165 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2166 /// that the space was using.
2167 /// </summary>
2168 /// <param name="prim"></param>
2169 public void RemovePrimThreadLocked(OdePrim prim)
2170 {
2171//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2172 lock (prim)
2173 {
2174 remCollisionEventReporting(prim);
2175 lock (ode)
2176 {
2177 if (prim.prim_geom != IntPtr.Zero)
2178 {
2179 prim.ResetTaints();
2180
2181 try
2182 {
2183 if (prim._triMeshData != IntPtr.Zero)
2184 {
2185 d.GeomTriMeshDataDestroy(prim._triMeshData);
2186 prim._triMeshData = IntPtr.Zero;
2187 }
2188 }
2189 catch { };
2190
2191 if (prim.IsPhysical)
2192 {
2193 prim.disableBody();
2194 if (prim.childPrim)
2195 {
2196 prim.childPrim = false;
2197 prim.Body = IntPtr.Zero;
2198 prim.m_disabled = true;
2199 prim.IsPhysical = false;
2200 }
2201
2202 }
2203 // we don't want to remove the main space
2204
2205 // If the geometry is in the targetspace, remove it from the target space
2206 //m_log.Warn(prim.m_targetSpace);
2207
2208 //if (prim.m_targetSpace != IntPtr.Zero)
2209 //{
2210 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2211 //{
2212
2213 //if (d.GeomIsSpace(prim.m_targetSpace))
2214 //{
2215 //waitForSpaceUnlock(prim.m_targetSpace);
2216 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2217 prim.m_targetSpace = IntPtr.Zero;
2218 //}
2219 //else
2220 //{
2221 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2222 //((OdePrim)prim).m_targetSpace.ToString());
2223 //}
2224
2225 //}
2226 //}
2227 //m_log.Warn(prim.prim_geom);
2228 try
2229 {
2230 if (prim.prim_geom != IntPtr.Zero)
2231 {
2232
2233//string tPA;
2234//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2235//Console.WriteLine("**** Remove {0}", tPA);
2236 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2237 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2238 d.GeomDestroy(prim.prim_geom);
2239 prim.prim_geom = IntPtr.Zero;
2240 }
2241 else
2242 {
2243 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2244 }
2245 }
2246 catch (AccessViolationException)
2247 {
2248 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2249 }
2250 lock (_prims)
2251 _prims.Remove(prim);
2252
2253 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2254 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2255 //{
2256 //if (prim.m_targetSpace != null)
2257 //{
2258 //if (d.GeomIsSpace(prim.m_targetSpace))
2259 //{
2260 //waitForSpaceUnlock(prim.m_targetSpace);
2261 //d.SpaceRemove(space, prim.m_targetSpace);
2262 // free up memory used by the space.
2263 //d.SpaceDestroy(prim.m_targetSpace);
2264 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2265 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2266 //}
2267 //else
2268 //{
2269 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2270 //((OdePrim) prim).m_targetSpace.ToString());
2271 //}
2272 //}
2273 //}
2274
2275 if (SupportsNINJAJoints)
2276 {
2277 RemoveAllJointsConnectedToActorThreadLocked(prim);
2278 }
2279 }
2280 }
2281 }
2282 }
2283
2284 #endregion
2285
2286 #region Space Separation Calculation
2287
2288 /// <summary>
2289 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2290 /// </summary>
2291 /// <param name="pSpace"></param>
2292 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2293 {
2294 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2295 {
2296 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2297 {
2298 if (staticPrimspace[x, y] == pSpace)
2299 staticPrimspace[x, y] = IntPtr.Zero;
2300 }
2301 }
2302 }
2303
2304 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2305 {
2306 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2307 }
2308
2309 /// <summary>
2310 /// Called when a static prim moves. Allocates a space for the prim based on its position
2311 /// </summary>
2312 /// <param name="geom">the pointer to the geom that moved</param>
2313 /// <param name="pos">the position that the geom moved to</param>
2314 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2315 /// <returns>a pointer to the new space it's in</returns>
2316 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2317 {
2318 // Called from setting the Position and Size of an ODEPrim so
2319 // it's already in locked space.
2320
2321 // we don't want to remove the main space
2322 // we don't need to test physical here because this function should
2323 // never be called if the prim is physical(active)
2324
2325 // All physical prim end up in the root space
2326 //Thread.Sleep(20);
2327 if (currentspace != space)
2328 {
2329 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2330 //if (currentspace == IntPtr.Zero)
2331 //{
2332 //int adfadf = 0;
2333 //}
2334 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2335 {
2336 if (d.GeomIsSpace(currentspace))
2337 {
2338 waitForSpaceUnlock(currentspace);
2339 d.SpaceRemove(currentspace, geom);
2340 }
2341 else
2342 {
2343 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2344 " Geom:" + geom);
2345 }
2346 }
2347 else
2348 {
2349 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2350 if (sGeomIsIn != IntPtr.Zero)
2351 {
2352 if (d.GeomIsSpace(currentspace))
2353 {
2354 waitForSpaceUnlock(sGeomIsIn);
2355 d.SpaceRemove(sGeomIsIn, geom);
2356 }
2357 else
2358 {
2359 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2360 sGeomIsIn + " Geom:" + geom);
2361 }
2362 }
2363 }
2364
2365 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2366 if (d.SpaceGetNumGeoms(currentspace) == 0)
2367 {
2368 if (currentspace != IntPtr.Zero)
2369 {
2370 if (d.GeomIsSpace(currentspace))
2371 {
2372 waitForSpaceUnlock(currentspace);
2373 waitForSpaceUnlock(space);
2374 d.SpaceRemove(space, currentspace);
2375 // free up memory used by the space.
2376
2377 //d.SpaceDestroy(currentspace);
2378 resetSpaceArrayItemToZero(currentspace);
2379 }
2380 else
2381 {
2382 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2383 currentspace + " Geom:" + geom);
2384 }
2385 }
2386 }
2387 }
2388 else
2389 {
2390 // this is a physical object that got disabled. ;.;
2391 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2392 {
2393 if (d.SpaceQuery(currentspace, geom))
2394 {
2395 if (d.GeomIsSpace(currentspace))
2396 {
2397 waitForSpaceUnlock(currentspace);
2398 d.SpaceRemove(currentspace, geom);
2399 }
2400 else
2401 {
2402 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2403 currentspace + " Geom:" + geom);
2404 }
2405 }
2406 else
2407 {
2408 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2409 if (sGeomIsIn != IntPtr.Zero)
2410 {
2411 if (d.GeomIsSpace(sGeomIsIn))
2412 {
2413 waitForSpaceUnlock(sGeomIsIn);
2414 d.SpaceRemove(sGeomIsIn, geom);
2415 }
2416 else
2417 {
2418 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2419 sGeomIsIn + " Geom:" + geom);
2420 }
2421 }
2422 }
2423 }
2424 }
2425
2426 // The routines in the Position and Size sections do the 'inserting' into the space,
2427 // so all we have to do is make sure that the space that we're putting the prim into
2428 // is in the 'main' space.
2429 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2430 IntPtr newspace = calculateSpaceForGeom(pos);
2431
2432 if (newspace == IntPtr.Zero)
2433 {
2434 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2435 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2436 }
2437
2438 return newspace;
2439 }
2440
2441 /// <summary>
2442 /// Creates a new space at X Y
2443 /// </summary>
2444 /// <param name="iprimspaceArrItemX"></param>
2445 /// <param name="iprimspaceArrItemY"></param>
2446 /// <returns>A pointer to the created space</returns>
2447 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2448 {
2449 // creating a new space for prim and inserting it into main space.
2450 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2451 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2452 waitForSpaceUnlock(space);
2453 d.SpaceSetSublevel(space, 1);
2454 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2455 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2456 }
2457
2458 /// <summary>
2459 /// Calculates the space the prim should be in by its position
2460 /// </summary>
2461 /// <param name="pos"></param>
2462 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2463 public IntPtr calculateSpaceForGeom(Vector3 pos)
2464 {
2465 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2466 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2467 return staticPrimspace[xyspace[0], xyspace[1]];
2468 }
2469
2470 /// <summary>
2471 /// Holds the space allocation logic
2472 /// </summary>
2473 /// <param name="pos"></param>
2474 /// <returns>an array item based on the position</returns>
2475 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2476 {
2477 int[] returnint = new int[2];
2478
2479 returnint[0] = (int) (pos.X/metersInSpace);
2480
2481 if (returnint[0] > ((int) (259f/metersInSpace)))
2482 returnint[0] = ((int) (259f/metersInSpace));
2483 if (returnint[0] < 0)
2484 returnint[0] = 0;
2485
2486 returnint[1] = (int) (pos.Y/metersInSpace);
2487 if (returnint[1] > ((int) (259f/metersInSpace)))
2488 returnint[1] = ((int) (259f/metersInSpace));
2489 if (returnint[1] < 0)
2490 returnint[1] = 0;
2491
2492 return returnint;
2493 }
2494
2495 #endregion
2496
2497 /// <summary>
2498 /// Routine to figure out if we need to mesh this prim with our mesher
2499 /// </summary>
2500 /// <param name="pbs"></param>
2501 /// <returns></returns>
2502 public bool needsMeshing(PrimitiveBaseShape pbs)
2503 {
2504 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2505 // but we still need to check for sculptie meshing being enabled so this is the most
2506 // convenient place to do it for now...
2507
2508 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2509 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2510 int iPropertiesNotSupportedDefault = 0;
2511
2512 if (pbs.SculptEntry && !meshSculptedPrim)
2513 {
2514#if SPAM
2515 m_log.Warn("NonMesh");
2516#endif
2517 return false;
2518 }
2519
2520 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
2521 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
2522 {
2523 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2524 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2525 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2526 {
2527
2528 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2529 && pbs.ProfileHollow == 0
2530 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2531 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2532 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2533 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2534 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2535 {
2536#if SPAM
2537 m_log.Warn("NonMesh");
2538#endif
2539 return false;
2540 }
2541 }
2542 }
2543
2544 if (forceSimplePrimMeshing)
2545 return true;
2546
2547 if (pbs.ProfileHollow != 0)
2548 iPropertiesNotSupportedDefault++;
2549
2550 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2551 iPropertiesNotSupportedDefault++;
2552
2553 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2554 iPropertiesNotSupportedDefault++;
2555
2556 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2557 iPropertiesNotSupportedDefault++;
2558
2559 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2560 iPropertiesNotSupportedDefault++;
2561
2562 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2563 iPropertiesNotSupportedDefault++;
2564
2565 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
2566 iPropertiesNotSupportedDefault++;
2567
2568 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2569 iPropertiesNotSupportedDefault++;
2570
2571 // test for torus
2572 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2573 {
2574 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2575 {
2576 iPropertiesNotSupportedDefault++;
2577 }
2578 }
2579 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2580 {
2581 if (pbs.PathCurve == (byte)Extrusion.Straight)
2582 {
2583 iPropertiesNotSupportedDefault++;
2584 }
2585
2586 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2587 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2588 {
2589 iPropertiesNotSupportedDefault++;
2590 }
2591 }
2592 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2593 {
2594 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2595 {
2596 iPropertiesNotSupportedDefault++;
2597 }
2598 }
2599 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2600 {
2601 if (pbs.PathCurve == (byte)Extrusion.Straight)
2602 {
2603 iPropertiesNotSupportedDefault++;
2604 }
2605 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2606 {
2607 iPropertiesNotSupportedDefault++;
2608 }
2609 }
2610
2611 if (pbs.SculptEntry && meshSculptedPrim)
2612 iPropertiesNotSupportedDefault++;
2613
2614 if (iPropertiesNotSupportedDefault == 0)
2615 {
2616#if SPAM
2617 m_log.Warn("NonMesh");
2618#endif
2619 return false;
2620 }
2621#if SPAM
2622 m_log.Debug("Mesh");
2623#endif
2624 return true;
2625 }
2626
2627 /// <summary>
2628 /// Called after our prim properties are set Scale, position etc.
2629 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2630 /// This assures us that we have no race conditions
2631 /// </summary>
2632 /// <param name="prim"></param>
2633 public override void AddPhysicsActorTaint(PhysicsActor prim)
2634 {
2635
2636 if (prim is OdePrim)
2637 {
2638 OdePrim taintedprim = ((OdePrim) prim);
2639 lock (_taintedPrimLock)
2640 {
2641 if (!(_taintedPrimH.Contains(taintedprim)))
2642 {
2643//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2644 _taintedPrimH.Add(taintedprim); // HashSet for searching
2645 _taintedPrimL.Add(taintedprim); // List for ordered readout
2646 }
2647 }
2648 return;
2649 }
2650 else if (prim is OdeCharacter)
2651 {
2652 OdeCharacter taintedchar = ((OdeCharacter)prim);
2653 lock (_taintedActors)
2654 {
2655 if (!(_taintedActors.Contains(taintedchar)))
2656 {
2657 _taintedActors.Add(taintedchar);
2658 if (taintedchar.bad)
2659 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2660 }
2661 }
2662 }
2663 }
2664
2665 /// <summary>
2666 /// This is our main simulate loop
2667 /// It's thread locked by a Mutex in the scene.
2668 /// It holds Collisions, it instructs ODE to step through the physical reactions
2669 /// It moves the objects around in memory
2670 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2671 /// </summary>
2672 /// <param name="timeStep"></param>
2673 /// <returns></returns>
2674 public override float Simulate(float timeStep)
2675 {
2676 if (framecount >= int.MaxValue)
2677 framecount = 0;
2678 //if (m_worldOffset != Vector3.Zero)
2679 // return 0;
2680
2681 framecount++;
2682
2683 DateTime now = DateTime.UtcNow;
2684 TimeSpan SinceLastFrame = now - m_lastframe;
2685 m_lastframe = now;
2686 float realtime = (float)SinceLastFrame.TotalSeconds;
2687// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2688 timeStep = realtime;
2689
2690 // float fps = 1.0f / realtime;
2691 float fps = 0.0f; // number of ODE steps in this Simulate step
2692 //m_log.Info(timeStep.ToString());
2693 step_time += timeStep;
2694
2695 // If We're loaded down by something else,
2696 // or debugging with the Visual Studio project on pause
2697 // skip a few frames to catch up gracefully.
2698 // without shooting the physicsactors all over the place
2699
2700 if (step_time >= m_SkipFramesAtms)
2701 {
2702 // Instead of trying to catch up, it'll do 5 physics frames only
2703 step_time = ODE_STEPSIZE;
2704 m_physicsiterations = 5;
2705 }
2706 else
2707 {
2708 m_physicsiterations = 10;
2709 }
2710
2711 if (SupportsNINJAJoints)
2712 {
2713 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2714 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2715 }
2716
2717 lock (OdeLock)
2718 {
2719 // Process 10 frames if the sim is running normal..
2720 // process 5 frames if the sim is running slow
2721 //try
2722 //{
2723 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2724 //}
2725 //catch (StackOverflowException)
2726 //{
2727 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2728 // ode.drelease(world);
2729 //base.TriggerPhysicsBasedRestart();
2730 //}
2731
2732 int i = 0;
2733
2734 // Figure out the Frames Per Second we're going at.
2735 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2736
2737 // fps = (step_time / ODE_STEPSIZE) * 1000;
2738 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2739 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2740
2741 // step_time = 0.09375f;
2742
2743 while (step_time > 0.0f)
2744 {
2745 //lock (ode)
2746 //{
2747 //if (!ode.lockquery())
2748 //{
2749 // ode.dlock(world);
2750 try
2751 {
2752 // Insert, remove Characters
2753 bool processedtaints = false;
2754
2755 lock (_taintedActors)
2756 {
2757 if (_taintedActors.Count > 0)
2758 {
2759 foreach (OdeCharacter character in _taintedActors)
2760 {
2761
2762 character.ProcessTaints(ODE_STEPSIZE);
2763
2764 processedtaints = true;
2765 //character.m_collisionscore = 0;
2766 }
2767
2768 if (processedtaints)
2769 _taintedActors.Clear();
2770 }
2771 } // end lock _taintedActors
2772
2773 // Modify other objects in the scene.
2774 processedtaints = false;
2775
2776 lock (_taintedPrimLock)
2777 {
2778 foreach (OdePrim prim in _taintedPrimL)
2779 {
2780 if (prim.m_taintremove)
2781 {
2782 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2783 RemovePrimThreadLocked(prim);
2784 }
2785 else
2786 {
2787 //Console.WriteLine("Simulate calls ProcessTaints");
2788 prim.ProcessTaints(ODE_STEPSIZE);
2789 }
2790 processedtaints = true;
2791 prim.m_collisionscore = 0;
2792
2793 // This loop can block up the Heartbeat for a very long time on large regions.
2794 // We need to let the Watchdog know that the Heartbeat is not dead
2795 // NOTE: This is currently commented out, but if things like OAR loading are
2796 // timing the heartbeat out we will need to uncomment it
2797 //Watchdog.UpdateThread();
2798 }
2799
2800 if (SupportsNINJAJoints)
2801 {
2802 // Create pending joints, if possible
2803
2804 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2805 // a joint requires specifying the body id of both involved bodies
2806 if (pendingJoints.Count > 0)
2807 {
2808 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2809 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2810 foreach (PhysicsJoint joint in pendingJoints)
2811 {
2812 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2813 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2814 System.StringSplitOptions.RemoveEmptyEntries);
2815 List<IntPtr> jointBodies = new List<IntPtr>();
2816 bool allJointBodiesAreReady = true;
2817 foreach (string jointParam in jointParams)
2818 {
2819 if (jointParam == "NULL")
2820 {
2821 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2822 jointBodies.Add(IntPtr.Zero);
2823 }
2824 else
2825 {
2826 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2827 bool foundPrim = false;
2828 lock (_prims)
2829 {
2830 foreach (OdePrim prim in _prims) // FIXME: inefficient
2831 {
2832 if (prim.SOPName == jointParam)
2833 {
2834 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2835 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2836 {
2837 jointBodies.Add(prim.Body);
2838 foundPrim = true;
2839 break;
2840 }
2841 else
2842 {
2843 DoJointErrorMessage(joint, "prim name " + jointParam +
2844 " exists but is not (yet) physical; deferring joint creation. " +
2845 "IsPhysical property is " + prim.IsPhysical +
2846 " and body is " + prim.Body);
2847 foundPrim = false;
2848 break;
2849 }
2850 }
2851 }
2852 }
2853 if (foundPrim)
2854 {
2855 // all is fine
2856 }
2857 else
2858 {
2859 allJointBodiesAreReady = false;
2860 break;
2861 }
2862 }
2863 }
2864 if (allJointBodiesAreReady)
2865 {
2866 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2867 if (jointBodies[0] == jointBodies[1])
2868 {
2869 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2870 }
2871 else
2872 {
2873 switch (joint.Type)
2874 {
2875 case PhysicsJointType.Ball:
2876 {
2877 IntPtr odeJoint;
2878 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2879 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2880 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2881 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2882 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2883 d.JointSetBallAnchor(odeJoint,
2884 joint.Position.X,
2885 joint.Position.Y,
2886 joint.Position.Z);
2887 //DoJointErrorMessage(joint, "ODE joint setting OK");
2888 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2889 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2890 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2891 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2892
2893 if (joint is OdePhysicsJoint)
2894 {
2895 ((OdePhysicsJoint)joint).jointID = odeJoint;
2896 }
2897 else
2898 {
2899 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2900 }
2901 }
2902 break;
2903 case PhysicsJointType.Hinge:
2904 {
2905 IntPtr odeJoint;
2906 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2907 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2908 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2909 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2910 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2911 d.JointSetHingeAnchor(odeJoint,
2912 joint.Position.X,
2913 joint.Position.Y,
2914 joint.Position.Z);
2915 // We use the orientation of the x-axis of the joint's coordinate frame
2916 // as the axis for the hinge.
2917
2918 // Therefore, we must get the joint's coordinate frame based on the
2919 // joint.Rotation field, which originates from the orientation of the
2920 // joint's proxy object in the scene.
2921
2922 // The joint's coordinate frame is defined as the transformation matrix
2923 // that converts a vector from joint-local coordinates into world coordinates.
2924 // World coordinates are defined as the XYZ coordinate system of the sim,
2925 // as shown in the top status-bar of the viewer.
2926
2927 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2928 // and use that as the hinge axis.
2929
2930 //joint.Rotation.Normalize();
2931 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2932
2933 // Now extract the X axis of the joint's coordinate frame.
2934
2935 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2936 // tar pit of transposed, inverted, and generally messed-up orientations.
2937 // (In other words, Matrix4.AtAxis() is borked.)
2938 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2939
2940 // Instead, compute the X axis of the coordinate frame by transforming
2941 // the (1,0,0) vector. At least that works.
2942
2943 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2944 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2945 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2946 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2947 d.JointSetHingeAxis(odeJoint,
2948 jointAxis.X,
2949 jointAxis.Y,
2950 jointAxis.Z);
2951 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2952 if (joint is OdePhysicsJoint)
2953 {
2954 ((OdePhysicsJoint)joint).jointID = odeJoint;
2955 }
2956 else
2957 {
2958 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2959 }
2960 }
2961 break;
2962 }
2963 successfullyProcessedPendingJoints.Add(joint);
2964 }
2965 }
2966 else
2967 {
2968 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2969 }
2970 }
2971 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2972 {
2973 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2974 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2975 InternalRemovePendingJoint(successfullyProcessedJoint);
2976 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2977 InternalAddActiveJoint(successfullyProcessedJoint);
2978 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2979 }
2980 }
2981 } // end SupportsNINJAJoints
2982
2983 if (processedtaints)
2984//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2985 _taintedPrimH.Clear(); // ??? if this only ???
2986 _taintedPrimL.Clear();
2987 } // end lock _taintedPrimLock
2988
2989 // Move characters
2990 lock (_characters)
2991 {
2992 List<OdeCharacter> defects = new List<OdeCharacter>();
2993 foreach (OdeCharacter actor in _characters)
2994 {
2995 if (actor != null)
2996 actor.Move(ODE_STEPSIZE, defects);
2997 }
2998 if (0 != defects.Count)
2999 {
3000 foreach (OdeCharacter defect in defects)
3001 {
3002 RemoveCharacter(defect);
3003 }
3004 }
3005 } // end lock _characters
3006
3007 // Move other active objects
3008 lock (_activeprims)
3009 {
3010 foreach (OdePrim prim in _activeprims)
3011 {
3012 prim.m_collisionscore = 0;
3013 prim.Move(ODE_STEPSIZE);
3014 }
3015 } // end lock _activeprims
3016
3017 //if ((framecount % m_randomizeWater) == 0)
3018 // randomizeWater(waterlevel);
3019
3020 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3021 m_rayCastManager.ProcessQueuedRequests();
3022
3023 collision_optimized(ODE_STEPSIZE);
3024
3025 lock (_collisionEventPrim)
3026 {
3027 foreach (PhysicsActor obj in _collisionEventPrim)
3028 {
3029 if (obj == null)
3030 continue;
3031
3032 switch ((ActorTypes)obj.PhysicsActorType)
3033 {
3034 case ActorTypes.Agent:
3035 OdeCharacter cobj = (OdeCharacter)obj;
3036 cobj.AddCollisionFrameTime(100);
3037 cobj.SendCollisions();
3038 break;
3039 case ActorTypes.Prim:
3040 OdePrim pobj = (OdePrim)obj;
3041 pobj.SendCollisions();
3042 break;
3043 }
3044 }
3045 } // end lock _collisionEventPrim
3046
3047 //if (m_global_contactcount > 5)
3048 //{
3049 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3050 //}
3051
3052 m_global_contactcount = 0;
3053
3054 d.WorldQuickStep(world, ODE_STEPSIZE);
3055 d.JointGroupEmpty(contactgroup);
3056 fps++;
3057 //ode.dunlock(world);
3058 } // end try
3059 catch (Exception e)
3060 {
3061 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3062 ode.dunlock(world);
3063 }
3064
3065 step_time -= ODE_STEPSIZE;
3066 i++;
3067 //}
3068 //else
3069 //{
3070 //fps = 0;
3071 //}
3072 //}
3073 } // end while (step_time > 0.0f)
3074
3075 lock (_characters)
3076 {
3077 foreach (OdeCharacter actor in _characters)
3078 {
3079 if (actor != null)
3080 {
3081 if (actor.bad)
3082 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3083 actor.UpdatePositionAndVelocity();
3084 }
3085 }
3086 }
3087
3088 lock (_badCharacter)
3089 {
3090 if (_badCharacter.Count > 0)
3091 {
3092 foreach (OdeCharacter chr in _badCharacter)
3093 {
3094 RemoveCharacter(chr);
3095 }
3096 _badCharacter.Clear();
3097 }
3098 }
3099
3100 lock (_activeprims)
3101 {
3102 //if (timeStep < 0.2f)
3103 {
3104 foreach (OdePrim actor in _activeprims)
3105 {
3106 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3107 {
3108 actor.UpdatePositionAndVelocity();
3109
3110 if (SupportsNINJAJoints)
3111 {
3112 // If an actor moved, move its joint proxy objects as well.
3113 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3114 // for this purpose but it is never called! So we just do the joint
3115 // movement code here.
3116
3117 if (actor.SOPName != null &&
3118 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3119 joints_connecting_actor[actor.SOPName] != null &&
3120 joints_connecting_actor[actor.SOPName].Count > 0)
3121 {
3122 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3123 {
3124 if (affectedJoint.IsInPhysicsEngine)
3125 {
3126 DoJointMoved(affectedJoint);
3127 }
3128 else
3129 {
3130 DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
3131 }
3132 }
3133 }
3134 }
3135 }
3136 }
3137 }
3138 } // end lock _activeprims
3139
3140 //DumpJointInfo();
3141
3142 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3143 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3144 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3145 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3146 {
3147 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3148 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3149
3150 if (physics_logging_append_existing_logfile)
3151 {
3152 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3153 TextWriter fwriter = File.AppendText(fname);
3154 fwriter.WriteLine(header);
3155 fwriter.Close();
3156 }
3157 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3158 }
3159 } // end lock OdeLock
3160
3161 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3162 } // end Simulate
3163
3164 public override void GetResults()
3165 {
3166 }
3167
3168 public override bool IsThreaded
3169 {
3170 // for now we won't be multithreaded
3171 get { return (false); }
3172 }
3173
3174 #region ODE Specific Terrain Fixes
3175 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3176 {
3177 float[] returnarr = new float[262144];
3178 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3179
3180 // Filling out the array into its multi-dimensional components
3181 for (int y = 0; y < WorldExtents.Y; y++)
3182 {
3183 for (int x = 0; x < WorldExtents.X; x++)
3184 {
3185 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3186 }
3187 }
3188
3189 // Resize using Nearest Neighbour
3190
3191 // This particular way is quick but it only works on a multiple of the original
3192
3193 // The idea behind this method can be described with the following diagrams
3194 // second pass and third pass happen in the same loop really.. just separated
3195 // them to show what this does.
3196
3197 // First Pass
3198 // ResultArr:
3199 // 1,1,1,1,1,1
3200 // 1,1,1,1,1,1
3201 // 1,1,1,1,1,1
3202 // 1,1,1,1,1,1
3203 // 1,1,1,1,1,1
3204 // 1,1,1,1,1,1
3205
3206 // Second Pass
3207 // ResultArr2:
3208 // 1,,1,,1,,1,,1,,1,
3209 // ,,,,,,,,,,
3210 // 1,,1,,1,,1,,1,,1,
3211 // ,,,,,,,,,,
3212 // 1,,1,,1,,1,,1,,1,
3213 // ,,,,,,,,,,
3214 // 1,,1,,1,,1,,1,,1,
3215 // ,,,,,,,,,,
3216 // 1,,1,,1,,1,,1,,1,
3217 // ,,,,,,,,,,
3218 // 1,,1,,1,,1,,1,,1,
3219
3220 // Third pass fills in the blanks
3221 // ResultArr2:
3222 // 1,1,1,1,1,1,1,1,1,1,1,1
3223 // 1,1,1,1,1,1,1,1,1,1,1,1
3224 // 1,1,1,1,1,1,1,1,1,1,1,1
3225 // 1,1,1,1,1,1,1,1,1,1,1,1
3226 // 1,1,1,1,1,1,1,1,1,1,1,1
3227 // 1,1,1,1,1,1,1,1,1,1,1,1
3228 // 1,1,1,1,1,1,1,1,1,1,1,1
3229 // 1,1,1,1,1,1,1,1,1,1,1,1
3230 // 1,1,1,1,1,1,1,1,1,1,1,1
3231 // 1,1,1,1,1,1,1,1,1,1,1,1
3232 // 1,1,1,1,1,1,1,1,1,1,1,1
3233
3234 // X,Y = .
3235 // X+1,y = ^
3236 // X,Y+1 = *
3237 // X+1,Y+1 = #
3238
3239 // Filling in like this;
3240 // .*
3241 // ^#
3242 // 1st .
3243 // 2nd *
3244 // 3rd ^
3245 // 4th #
3246 // on single loop.
3247
3248 float[,] resultarr2 = new float[512, 512];
3249 for (int y = 0; y < WorldExtents.Y; y++)
3250 {
3251 for (int x = 0; x < WorldExtents.X; x++)
3252 {
3253 resultarr2[y * 2, x * 2] = resultarr[y, x];
3254
3255 if (y < WorldExtents.Y)
3256 {
3257 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3258 }
3259 if (x < WorldExtents.X)
3260 {
3261 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3262 }
3263 if (x < WorldExtents.X && y < WorldExtents.Y)
3264 {
3265 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3266 }
3267 }
3268 }
3269
3270 //Flatten out the array
3271 int i = 0;
3272 for (int y = 0; y < 512; y++)
3273 {
3274 for (int x = 0; x < 512; x++)
3275 {
3276 if (resultarr2[y, x] <= 0)
3277 returnarr[i] = 0.0000001f;
3278 else
3279 returnarr[i] = resultarr2[y, x];
3280
3281 i++;
3282 }
3283 }
3284
3285 return returnarr;
3286 }
3287
3288 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3289 {
3290 float[] returnarr = new float[262144];
3291 float[,] resultarr = new float[512,512];
3292
3293 // Filling out the array into its multi-dimensional components
3294 for (int y = 0; y < 256; y++)
3295 {
3296 for (int x = 0; x < 256; x++)
3297 {
3298 resultarr[y, x] = heightMap[y * 256 + x];
3299 }
3300 }
3301
3302 // Resize using interpolation
3303
3304 // This particular way is quick but it only works on a multiple of the original
3305
3306 // The idea behind this method can be described with the following diagrams
3307 // second pass and third pass happen in the same loop really.. just separated
3308 // them to show what this does.
3309
3310 // First Pass
3311 // ResultArr:
3312 // 1,1,1,1,1,1
3313 // 1,1,1,1,1,1
3314 // 1,1,1,1,1,1
3315 // 1,1,1,1,1,1
3316 // 1,1,1,1,1,1
3317 // 1,1,1,1,1,1
3318
3319 // Second Pass
3320 // ResultArr2:
3321 // 1,,1,,1,,1,,1,,1,
3322 // ,,,,,,,,,,
3323 // 1,,1,,1,,1,,1,,1,
3324 // ,,,,,,,,,,
3325 // 1,,1,,1,,1,,1,,1,
3326 // ,,,,,,,,,,
3327 // 1,,1,,1,,1,,1,,1,
3328 // ,,,,,,,,,,
3329 // 1,,1,,1,,1,,1,,1,
3330 // ,,,,,,,,,,
3331 // 1,,1,,1,,1,,1,,1,
3332
3333 // Third pass fills in the blanks
3334 // ResultArr2:
3335 // 1,1,1,1,1,1,1,1,1,1,1,1
3336 // 1,1,1,1,1,1,1,1,1,1,1,1
3337 // 1,1,1,1,1,1,1,1,1,1,1,1
3338 // 1,1,1,1,1,1,1,1,1,1,1,1
3339 // 1,1,1,1,1,1,1,1,1,1,1,1
3340 // 1,1,1,1,1,1,1,1,1,1,1,1
3341 // 1,1,1,1,1,1,1,1,1,1,1,1
3342 // 1,1,1,1,1,1,1,1,1,1,1,1
3343 // 1,1,1,1,1,1,1,1,1,1,1,1
3344 // 1,1,1,1,1,1,1,1,1,1,1,1
3345 // 1,1,1,1,1,1,1,1,1,1,1,1
3346
3347 // X,Y = .
3348 // X+1,y = ^
3349 // X,Y+1 = *
3350 // X+1,Y+1 = #
3351
3352 // Filling in like this;
3353 // .*
3354 // ^#
3355 // 1st .
3356 // 2nd *
3357 // 3rd ^
3358 // 4th #
3359 // on single loop.
3360
3361 float[,] resultarr2 = new float[512,512];
3362 for (int y = 0; y < (int)Constants.RegionSize; y++)
3363 {
3364 for (int x = 0; x < (int)Constants.RegionSize; x++)
3365 {
3366 resultarr2[y*2, x*2] = resultarr[y, x];
3367
3368 if (y < (int)Constants.RegionSize)
3369 {
3370 if (y + 1 < (int)Constants.RegionSize)
3371 {
3372 if (x + 1 < (int)Constants.RegionSize)
3373 {
3374 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3375 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3376 }
3377 else
3378 {
3379 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3380 }
3381 }
3382 else
3383 {
3384 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3385 }
3386 }
3387 if (x < (int)Constants.RegionSize)
3388 {
3389 if (x + 1 < (int)Constants.RegionSize)
3390 {
3391 if (y + 1 < (int)Constants.RegionSize)
3392 {
3393 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3394 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3395 }
3396 else
3397 {
3398 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3399 }
3400 }
3401 else
3402 {
3403 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3404 }
3405 }
3406 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3407 {
3408 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3409 {
3410 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3411 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3412 }
3413 else
3414 {
3415 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3416 }
3417 }
3418 }
3419 }
3420 //Flatten out the array
3421 int i = 0;
3422 for (int y = 0; y < 512; y++)
3423 {
3424 for (int x = 0; x < 512; x++)
3425 {
3426 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3427 {
3428 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3429 resultarr2[y, x] = 0;
3430 }
3431 returnarr[i] = resultarr2[y, x];
3432 i++;
3433 }
3434 }
3435
3436 return returnarr;
3437 }
3438
3439 #endregion
3440
3441 public override void SetTerrain(float[] heightMap)
3442 {
3443 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3444 {
3445 if (m_parentScene is OdeScene)
3446 {
3447 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3448 }
3449 }
3450 else
3451 {
3452 SetTerrain(heightMap, m_worldOffset);
3453 }
3454 }
3455
3456 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3457 {
3458
3459 int regionsize = (int) Constants.RegionSize; // visible region size eg. 256(M)
3460
3461 int heightmapWidth = regionsize + 2; // ODE map size 257 x 257 (Meters) (1 extra
3462 int heightmapHeight = regionsize + 2;
3463
3464 int heightmapWidthSamples = (int)regionsize + 2; // Sample file size, 258 x 258 samples
3465 int heightmapHeightSamples = (int)regionsize + 2;
3466
3467 // Array of height samples for ODE
3468 float[] _heightmap;
3469 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3470
3471 // Other ODE parameters
3472 const float scale = 1.0f;
3473 const float offset = 0.0f;
3474 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3475 const int wrap = 0;
3476
3477 float hfmin = 2000f;
3478 float hfmax = -2000f;
3479 float minele = 0.0f; // Dont allow -ve heights
3480
3481 int x = 0;
3482 int y = 0;
3483 int xx = 0;
3484 int yy = 0;
3485
3486 // load the height samples array from the heightMap
3487 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3488 {
3489 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3490 {
3491 xx = x - 1;
3492 if (xx < 0) xx = 0;
3493 if (xx > (regionsize - 1)) xx = regionsize - 1;
3494
3495 yy = y - 1;
3496 if (yy < 0) yy = 0;
3497 if (yy > (regionsize - 1)) yy = regionsize - 1;
3498 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3499 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3500 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3501 if (val < minele) val = minele;
3502 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3503 hfmin = (val < hfmin) ? val : hfmin;
3504 hfmax = (val > hfmax) ? val : hfmax;
3505 }
3506 }
3507
3508 lock (OdeLock)
3509 {
3510 IntPtr GroundGeom = IntPtr.Zero;
3511 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3512 {
3513 RegionTerrain.Remove(pOffset);
3514 if (GroundGeom != IntPtr.Zero)
3515 {
3516 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3517 {
3518 TerrainHeightFieldHeights.Remove(GroundGeom);
3519 }
3520 d.SpaceRemove(space, GroundGeom);
3521 d.GeomDestroy(GroundGeom);
3522 }
3523 }
3524 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3525 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3526 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3527 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3528 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3529 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3530 if (GroundGeom != IntPtr.Zero)
3531 {
3532 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3533 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3534 }
3535 geom_name_map[GroundGeom] = "Terrain";
3536
3537 d.Matrix3 R = new d.Matrix3();
3538
3539 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3540 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3541 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3542
3543 q1 = q1 * q2;
3544 //q1 = q1 * q3;
3545 Vector3 v3;
3546 float angle;
3547 q1.GetAxisAngle(out v3, out angle);
3548
3549 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3550 d.GeomSetRotation(GroundGeom, ref R);
3551 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3552 IntPtr testGround = IntPtr.Zero;
3553 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3554 {
3555 RegionTerrain.Remove(pOffset);
3556 }
3557 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3558 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3559 }
3560 }
3561
3562 public override void DeleteTerrain()
3563 {
3564 }
3565
3566 public float GetWaterLevel()
3567 {
3568 return waterlevel;
3569 }
3570
3571 public override bool SupportsCombining()
3572 {
3573 return true;
3574 }
3575
3576 public override void UnCombine(PhysicsScene pScene)
3577 {
3578 IntPtr localGround = IntPtr.Zero;
3579// float[] localHeightfield;
3580 bool proceed = false;
3581 List<IntPtr> geomDestroyList = new List<IntPtr>();
3582
3583 lock (OdeLock)
3584 {
3585 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3586 {
3587 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3588 {
3589 if (geom == localGround)
3590 {
3591// localHeightfield = TerrainHeightFieldHeights[geom];
3592 proceed = true;
3593 }
3594 else
3595 {
3596 geomDestroyList.Add(geom);
3597 }
3598 }
3599
3600 if (proceed)
3601 {
3602 m_worldOffset = Vector3.Zero;
3603 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3604 m_parentScene = null;
3605
3606 foreach (IntPtr g in geomDestroyList)
3607 {
3608 // removingHeightField needs to be done or the garbage collector will
3609 // collect the terrain data before we tell ODE to destroy it causing
3610 // memory corruption
3611 if (TerrainHeightFieldHeights.ContainsKey(g))
3612 {
3613// float[] removingHeightField = TerrainHeightFieldHeights[g];
3614 TerrainHeightFieldHeights.Remove(g);
3615
3616 if (RegionTerrain.ContainsKey(g))
3617 {
3618 RegionTerrain.Remove(g);
3619 }
3620
3621 d.GeomDestroy(g);
3622 //removingHeightField = new float[0];
3623 }
3624 }
3625
3626 }
3627 else
3628 {
3629 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3630
3631 }
3632 }
3633 }
3634 }
3635
3636 public override void SetWaterLevel(float baseheight)
3637 {
3638 waterlevel = baseheight;
3639 randomizeWater(waterlevel);
3640 }
3641
3642 public void randomizeWater(float baseheight)
3643 {
3644 const uint heightmapWidth = m_regionWidth + 2;
3645 const uint heightmapHeight = m_regionHeight + 2;
3646 const uint heightmapWidthSamples = m_regionWidth + 2;
3647 const uint heightmapHeightSamples = m_regionHeight + 2;
3648 const float scale = 1.0f;
3649 const float offset = 0.0f;
3650 const float thickness = 2.9f;
3651 const int wrap = 0;
3652
3653 for (int i = 0; i < (258 * 258); i++)
3654 {
3655 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3656 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3657 }
3658
3659 lock (OdeLock)
3660 {
3661 if (WaterGeom != IntPtr.Zero)
3662 {
3663 d.SpaceRemove(space, WaterGeom);
3664 }
3665 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3666 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3667 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3668 offset, thickness, wrap);
3669 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3670 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3671 if (WaterGeom != IntPtr.Zero)
3672 {
3673 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3674 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3675
3676 }
3677 geom_name_map[WaterGeom] = "Water";
3678
3679 d.Matrix3 R = new d.Matrix3();
3680
3681 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3682 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3683 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3684
3685 q1 = q1 * q2;
3686 //q1 = q1 * q3;
3687 Vector3 v3;
3688 float angle;
3689 q1.GetAxisAngle(out v3, out angle);
3690
3691 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3692 d.GeomSetRotation(WaterGeom, ref R);
3693 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3694
3695 }
3696
3697 }
3698
3699 public override void Dispose()
3700 {
3701 m_rayCastManager.Dispose();
3702 m_rayCastManager = null;
3703
3704 lock (OdeLock)
3705 {
3706 lock (_prims)
3707 {
3708 foreach (OdePrim prm in _prims)
3709 {
3710 RemovePrim(prm);
3711 }
3712 }
3713
3714 //foreach (OdeCharacter act in _characters)
3715 //{
3716 //RemoveAvatar(act);
3717 //}
3718 d.WorldDestroy(world);
3719 //d.CloseODE();
3720 }
3721 }
3722 public override Dictionary<uint, float> GetTopColliders()
3723 {
3724 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3725 int cnt = 0;
3726 lock (_prims)
3727 {
3728 foreach (OdePrim prm in _prims)
3729 {
3730 if (prm.CollisionScore > 0)
3731 {
3732 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3733 cnt++;
3734 prm.CollisionScore = 0f;
3735 if (cnt > 25)
3736 {
3737 break;
3738 }
3739 }
3740 }
3741 }
3742 return returncolliders;
3743 }
3744
3745 public override bool SupportsRayCast()
3746 {
3747 return true;
3748 }
3749
3750 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3751 {
3752 if (retMethod != null)
3753 {
3754 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3755 }
3756 }
3757
3758#if USE_DRAWSTUFF
3759 // Keyboard callback
3760 public void command(int cmd)
3761 {
3762 IntPtr geom;
3763 d.Mass mass;
3764 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3765
3766
3767
3768 Char ch = Char.ToLower((Char)cmd);
3769 switch ((Char)ch)
3770 {
3771 case 'w':
3772 try
3773 {
3774 Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3775
3776 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3777 ds.SetViewpoint(ref xyz, ref hpr);
3778 }
3779 catch (ArgumentException)
3780 { hpr.X = 0; }
3781 break;
3782
3783 case 'a':
3784 hpr.X++;
3785 ds.SetViewpoint(ref xyz, ref hpr);
3786 break;
3787
3788 case 's':
3789 try
3790 {
3791 Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3792
3793 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3794 ds.SetViewpoint(ref xyz, ref hpr);
3795 }
3796 catch (ArgumentException)
3797 { hpr.X = 0; }
3798 break;
3799 case 'd':
3800 hpr.X--;
3801 ds.SetViewpoint(ref xyz, ref hpr);
3802 break;
3803 case 'r':
3804 xyz.Z++;
3805 ds.SetViewpoint(ref xyz, ref hpr);
3806 break;
3807 case 'f':
3808 xyz.Z--;
3809 ds.SetViewpoint(ref xyz, ref hpr);
3810 break;
3811 case 'e':
3812 xyz.Y++;
3813 ds.SetViewpoint(ref xyz, ref hpr);
3814 break;
3815 case 'q':
3816 xyz.Y--;
3817 ds.SetViewpoint(ref xyz, ref hpr);
3818 break;
3819 }
3820 }
3821
3822 public void step(int pause)
3823 {
3824
3825 ds.SetColor(1.0f, 1.0f, 0.0f);
3826 ds.SetTexture(ds.Texture.Wood);
3827 lock (_prims)
3828 {
3829 foreach (OdePrim prm in _prims)
3830 {
3831 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3832 if (prm.prim_geom != IntPtr.Zero)
3833 {
3834 d.Vector3 pos;
3835 d.GeomCopyPosition(prm.prim_geom, out pos);
3836 //d.BodyCopyPosition(body, out pos);
3837
3838 d.Matrix3 R;
3839 d.GeomCopyRotation(prm.prim_geom, out R);
3840 //d.BodyCopyRotation(body, out R);
3841
3842
3843 d.Vector3 sides = new d.Vector3();
3844 sides.X = prm.Size.X;
3845 sides.Y = prm.Size.Y;
3846 sides.Z = prm.Size.Z;
3847
3848 ds.DrawBox(ref pos, ref R, ref sides);
3849 }
3850 }
3851 }
3852 ds.SetColor(1.0f, 0.0f, 0.0f);
3853 lock (_characters)
3854 {
3855 foreach (OdeCharacter chr in _characters)
3856 {
3857 if (chr.Shell != IntPtr.Zero)
3858 {
3859 IntPtr body = d.GeomGetBody(chr.Shell);
3860
3861 d.Vector3 pos;
3862 d.GeomCopyPosition(chr.Shell, out pos);
3863 //d.BodyCopyPosition(body, out pos);
3864
3865 d.Matrix3 R;
3866 d.GeomCopyRotation(chr.Shell, out R);
3867 //d.BodyCopyRotation(body, out R);
3868
3869 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3870 d.Vector3 sides = new d.Vector3();
3871 sides.X = 0.5f;
3872 sides.Y = 0.5f;
3873 sides.Z = 0.5f;
3874
3875 ds.DrawBox(ref pos, ref R, ref sides);
3876 }
3877 }
3878 }
3879 }
3880
3881 public void start(int unused)
3882 {
3883 ds.SetViewpoint(ref xyz, ref hpr);
3884 }
3885#endif
3886 }
3887}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
new file mode 100644
index 0000000..e7e7bb3
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
@@ -0,0 +1,353 @@
1/* Ubit 2012
2 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
3 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
4 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
5 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
6 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
7 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
8 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
9 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
10 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
11 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
12*/
13
14// no endian conversion. So can't be use to pass information around diferent cpus with diferent endian
15
16using System;
17using System.IO;
18using OpenMetaverse;
19
20namespace OpenSim.Region.Physics.OdePlugin
21{
22
23 unsafe public class wstreamer
24 {
25 byte[] buf;
26 int index;
27 byte* src;
28
29 public wstreamer()
30 {
31 buf = new byte[1024];
32 index = 0;
33 }
34 public wstreamer(int size)
35 {
36 buf = new byte[size];
37 index = 0;
38 }
39
40 public byte[] close()
41 {
42 byte[] data = new byte[index];
43 Buffer.BlockCopy(buf, 0, data, 0, index);
44 return data;
45 }
46
47 public void Seek(int pos)
48 {
49 index = pos;
50 }
51
52 public void Seekrel(int pos)
53 {
54 index += pos;
55 }
56
57 public void Wbyte(byte value)
58 {
59 buf[index++] = value;
60 }
61 public void Wshort(short value)
62 {
63 src = (byte*)&value;
64 buf[index++] = *src++;
65 buf[index++] = *src;
66 }
67 public void Wushort(ushort value)
68 {
69 src = (byte*)&value;
70 buf[index++] = *src++;
71 buf[index++] = *src;
72 }
73 public void Wint(int value)
74 {
75 src = (byte*)&value;
76 buf[index++] = *src++;
77 buf[index++] = *src++;
78 buf[index++] = *src++;
79 buf[index++] = *src;
80 }
81 public void Wuint(uint value)
82 {
83 src = (byte*)&value;
84 buf[index++] = *src++;
85 buf[index++] = *src++;
86 buf[index++] = *src++;
87 buf[index++] = *src;
88 }
89 public void Wlong(long value)
90 {
91 src = (byte*)&value;
92 buf[index++] = *src++;
93 buf[index++] = *src++;
94 buf[index++] = *src++;
95 buf[index++] = *src++;
96 buf[index++] = *src++;
97 buf[index++] = *src++;
98 buf[index++] = *src++;
99 buf[index++] = *src;
100 }
101 public void Wulong(ulong value)
102 {
103 src = (byte*)&value;
104 buf[index++] = *src++;
105 buf[index++] = *src++;
106 buf[index++] = *src++;
107 buf[index++] = *src++;
108 buf[index++] = *src++;
109 buf[index++] = *src++;
110 buf[index++] = *src++;
111 buf[index++] = *src;
112 }
113
114 public void Wfloat(float value)
115 {
116 src = (byte*)&value;
117 buf[index++] = *src++;
118 buf[index++] = *src++;
119 buf[index++] = *src++;
120 buf[index++] = *src;
121 }
122
123 public void Wdouble(double value)
124 {
125 src = (byte*)&value;
126 buf[index++] = *src++;
127 buf[index++] = *src++;
128 buf[index++] = *src++;
129 buf[index++] = *src++;
130 buf[index++] = *src++;
131 buf[index++] = *src++;
132 buf[index++] = *src++;
133 buf[index++] = *src;
134 }
135
136 public void Wvector3(Vector3 value)
137 {
138 src = (byte*)&value.X;
139 buf[index++] = *src++;
140 buf[index++] = *src++;
141 buf[index++] = *src++;
142 buf[index++] = *src;
143 src = (byte*)&value.Y; // it may have padding ??
144 buf[index++] = *src++;
145 buf[index++] = *src++;
146 buf[index++] = *src++;
147 buf[index++] = *src;
148 src = (byte*)&value.Z;
149 buf[index++] = *src++;
150 buf[index++] = *src++;
151 buf[index++] = *src++;
152 buf[index++] = *src;
153 }
154 public void Wquat(Quaternion value)
155 {
156 src = (byte*)&value.X;
157 buf[index++] = *src++;
158 buf[index++] = *src++;
159 buf[index++] = *src++;
160 buf[index++] = *src;
161 src = (byte*)&value.Y; // it may have padding ??
162 buf[index++] = *src++;
163 buf[index++] = *src++;
164 buf[index++] = *src++;
165 buf[index++] = *src;
166 src = (byte*)&value.Z;
167 buf[index++] = *src++;
168 buf[index++] = *src++;
169 buf[index++] = *src++;
170 buf[index++] = *src;
171 src = (byte*)&value.W;
172 buf[index++] = *src++;
173 buf[index++] = *src++;
174 buf[index++] = *src++;
175 buf[index++] = *src;
176 }
177 }
178
179 unsafe public class rstreamer
180 {
181 private byte[] rbuf;
182 private int ptr;
183 private byte* dst;
184
185 public rstreamer(byte[] data)
186 {
187 rbuf = data;
188 ptr = 0;
189 }
190
191 public void close()
192 {
193 }
194
195 public void Seek(int pos)
196 {
197 ptr = pos;
198 }
199
200 public void Seekrel(int pos)
201 {
202 ptr += pos;
203 }
204
205 public byte Rbyte()
206 {
207 return (byte)rbuf[ptr++];
208 }
209
210 public short Rshort()
211 {
212 short v;
213 dst = (byte*)&v;
214 *dst++ = rbuf[ptr++];
215 *dst = rbuf[ptr++];
216 return v;
217 }
218 public ushort Rushort()
219 {
220 ushort v;
221 dst = (byte*)&v;
222 *dst++ = rbuf[ptr++];
223 *dst = rbuf[ptr++];
224 return v;
225 }
226 public int Rint()
227 {
228 int v;
229 dst = (byte*)&v;
230 *dst++ = rbuf[ptr++];
231 *dst++ = rbuf[ptr++];
232 *dst++ = rbuf[ptr++];
233 *dst = rbuf[ptr++];
234 return v;
235 }
236 public uint Ruint()
237 {
238 uint v;
239 dst = (byte*)&v;
240 *dst++ = rbuf[ptr++];
241 *dst++ = rbuf[ptr++];
242 *dst++ = rbuf[ptr++];
243 *dst = rbuf[ptr++];
244 return v;
245 }
246 public long Rlong()
247 {
248 long v;
249 dst = (byte*)&v;
250 *dst++ = rbuf[ptr++];
251 *dst++ = rbuf[ptr++];
252 *dst++ = rbuf[ptr++];
253 *dst++ = rbuf[ptr++];
254 *dst++ = rbuf[ptr++];
255 *dst++ = rbuf[ptr++];
256 *dst++ = rbuf[ptr++];
257 *dst = rbuf[ptr++];
258 return v;
259 }
260 public ulong Rulong()
261 {
262 ulong v;
263 dst = (byte*)&v;
264 *dst++ = rbuf[ptr++];
265 *dst++ = rbuf[ptr++];
266 *dst++ = rbuf[ptr++];
267 *dst++ = rbuf[ptr++];
268 *dst++ = rbuf[ptr++];
269 *dst++ = rbuf[ptr++];
270 *dst++ = rbuf[ptr++];
271 *dst = rbuf[ptr++];
272 return v;
273 }
274 public float Rfloat()
275 {
276 float v;
277 dst = (byte*)&v;
278 *dst++ = rbuf[ptr++];
279 *dst++ = rbuf[ptr++];
280 *dst++ = rbuf[ptr++];
281 *dst = rbuf[ptr++];
282 return v;
283 }
284
285 public double Rdouble()
286 {
287 double v;
288 dst = (byte*)&v;
289 *dst++ = rbuf[ptr++];
290 *dst++ = rbuf[ptr++];
291 *dst++ = rbuf[ptr++];
292 *dst++ = rbuf[ptr++];
293 *dst++ = rbuf[ptr++];
294 *dst++ = rbuf[ptr++];
295 *dst++ = rbuf[ptr++];
296 *dst = rbuf[ptr++];
297 return v;
298 }
299
300 public Vector3 Rvector3()
301 {
302 Vector3 v;
303 dst = (byte*)&v.X;
304 *dst++ = rbuf[ptr++];
305 *dst++ = rbuf[ptr++];
306 *dst++ = rbuf[ptr++];
307 *dst = rbuf[ptr++];
308
309 dst = (byte*)&v.Y;
310 *dst++ = rbuf[ptr++];
311 *dst++ = rbuf[ptr++];
312 *dst++ = rbuf[ptr++];
313 *dst = rbuf[ptr++];
314
315 dst = (byte*)&v.Z;
316 *dst++ = rbuf[ptr++];
317 *dst++ = rbuf[ptr++];
318 *dst++ = rbuf[ptr++];
319 *dst = rbuf[ptr++];
320 return v;
321 }
322
323 public Quaternion Rquat()
324 {
325 Quaternion v;
326 dst = (byte*)&v.X;
327 *dst++ = rbuf[ptr++];
328 *dst++ = rbuf[ptr++];
329 *dst++ = rbuf[ptr++];
330 *dst = rbuf[ptr++];
331
332 dst = (byte*)&v.Y;
333 *dst++ = rbuf[ptr++];
334 *dst++ = rbuf[ptr++];
335 *dst++ = rbuf[ptr++];
336 *dst = rbuf[ptr++];
337
338 dst = (byte*)&v.Z;
339 *dst++ = rbuf[ptr++];
340 *dst++ = rbuf[ptr++];
341 *dst++ = rbuf[ptr++];
342 *dst = rbuf[ptr++];
343
344 dst = (byte*)&v.W;
345 *dst++ = rbuf[ptr++];
346 *dst++ = rbuf[ptr++];
347 *dst++ = rbuf[ptr++];
348 *dst = rbuf[ptr++];
349
350 return v;
351 }
352 }
353}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
new file mode 100644
index 0000000..69e2d03
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
@@ -0,0 +1,122 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using Nini.Config;
30using NUnit.Framework;
31using OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34using log4net;
35using System.Reflection;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 [TestFixture]
40 public class ODETestClass
41 {
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43
44 private OdePlugin cbt;
45 private PhysicsScene ps;
46 private IMeshingPlugin imp;
47
48 [SetUp]
49 public void Initialize()
50 {
51 // Loading ODEPlugin
52 cbt = new OdePlugin();
53 // Loading Zero Mesher
54 imp = new ZeroMesherPlugin();
55 // Getting Physics Scene
56 ps = cbt.GetScene("test");
57 // Initializing Physics Scene.
58 ps.Initialise(imp.GetMesher(),null);
59 float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
60 for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
61 {
62 _heightmap[i] = 21f;
63 }
64 ps.SetTerrain(_heightmap);
65 }
66
67 [TearDown]
68 public void Terminate()
69 {
70 ps.DeleteTerrain();
71 ps.Dispose();
72
73 }
74
75 [Test]
76 public void CreateAndDropPhysicalCube()
77 {
78 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
79 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
80 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
81 Quaternion rot = Quaternion.Identity;
82 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
83 OdePrim oprim = (OdePrim)prim;
84 OdeScene pscene = (OdeScene) ps;
85
86 Assert.That(oprim.m_taintadd);
87
88 prim.LocalID = 5;
89
90 for (int i = 0; i < 58; i++)
91 {
92 ps.Simulate(0.133f);
93
94 Assert.That(oprim.prim_geom != (IntPtr)0);
95
96 Assert.That(oprim.m_targetSpace != (IntPtr)0);
97
98 //Assert.That(oprim.m_targetSpace == pscene.space);
99 m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
100
101 Assert.That(!oprim.m_taintadd);
102 m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());
103
104 // Make sure we're above the ground
105 //Assert.That(prim.Position.Z > 20f);
106 //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
107
108 // Make sure we've got a Body
109 Assert.That(oprim.Body != (IntPtr)0);
110 //m_log.Info(
111 }
112
113 // Make sure we're not somewhere above the ground
114 Assert.That(prim.Position.Z < 21.5f);
115
116 ps.RemovePrim(prim);
117 Assert.That(oprim.m_taintremove);
118 ps.Simulate(0.133f);
119 Assert.That(oprim.Body == (IntPtr)0);
120 }
121 }
122}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
new file mode 100644
index 0000000..87ca446
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
@@ -0,0 +1,98 @@
1/*
2 * Copyright ODE
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 *
39 */
40
41using System;
42using System.Runtime.InteropServices;
43using Ode.NET;
44
45namespace Drawstuff.NET
46{
47#if dDOUBLE
48 using dReal = System.Double;
49#else
50 using dReal = System.Single;
51#endif
52
53 public static class ds
54 {
55 public const int VERSION = 2;
56
57 public enum Texture
58 {
59 None,
60 Wood
61 }
62
63 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
64 public delegate void CallbackFunction(int arg);
65
66 [StructLayout(LayoutKind.Sequential)]
67 public struct Functions
68 {
69 public int version;
70 public CallbackFunction start;
71 public CallbackFunction step;
72 public CallbackFunction command;
73 public CallbackFunction stop;
74 public string path_to_textures;
75 }
76
77 [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
78 public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
79
80 [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
81 public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
82
83 [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
84 public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
85
86 [DllImport("drawstuff", EntryPoint = "dsSetColor")]
87 public static extern void SetColor(float red, float green, float blue);
88
89 [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
90 public static extern void SetTexture(Texture texture);
91
92 [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
93 public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
94
95 [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
96 public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
97 }
98}
generated by cgit v1.1 at 2024-10-26 01:18:10 +0000